void isr_process_encoder1(void)
{
if(digitalRead(Encoder_1.getPortB()) == 0){
Encoder_1.pulsePosMinus();
}else{
Encoder_1.pulsePosPlus();
}
}
void isr_process_encoder2(void)
{
if(digitalRead(Encoder_2.getPortB()) == 0){
Encoder_2.pulsePosMinus();
}else{
Encoder_2.pulsePosPlus();
}
}
void move(int direction, int speed)
{
int leftSpeed = 0;
int rightSpeed = 0;
if(direction == 1){
leftSpeed = -speed;
rightSpeed = speed;
}else if(direction == 2){
leftSpeed = speed;
rightSpeed = -speed;
}else if(direction == 3){
leftSpeed = -speed;
rightSpeed = -speed;
}else if(direction == 4){
leftSpeed = speed;
rightSpeed = speed;
}
Encoder_1.setTarPWM(leftSpeed);
Encoder_2.setTarPWM(rightSpeed);
}
void _delay(float seconds) {
if(seconds < 0.0){
seconds = 0.0;
}
long endTime = millis() + seconds * 1000;
while(millis() < endTime) _loop();
}
void setup() {
randomSeed((unsigned long)(lightsensor_12.read() * 123456));
rgbled_0.setpin(44);
rgbled_0.fillPixelsBak(0, 2, 1);
TCCR1A = _BV(WGM10);
TCCR1B = _BV(CS11) | _BV(WGM12);
TCCR2A = _BV(WGM21) | _BV(WGM20);
TCCR2B = _BV(CS21);
attachInterrupt(Encoder_1.getIntNum(), isr_process_encoder1, RISING);
attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2, RISING);
while(1) {
if(ultrasonic_10.distanceCm() < 5){
rgbled_0.setColor(0,255,0,0);
rgbled_0.show();
move(2, 30 / 100.0 * 255);
_delay(1);
move(2, 0);
move(3, 30 / 100.0 * 255);
_delay(1);
move(3, 0);
}
if(linefollower_9.readSensors() == 0.000000){
move(1, 30 / 100.0 * 255);
rgbled_0.setColor(0,29,255,0);
rgbled_0.show();
}
if(linefollower_9.readSensors() == 1.000000){
rgbled_0.setColor(0,42,0,255);
rgbled_0.show();
move(3, 30 / 100.0 * 255);
}
if(linefollower_9.readSensors() == 2.000000){
move(4, 30 / 100.0 * 255);
rgbled_0.setColor(0,55,0,255);
rgbled_0.show();
}else{
move(1, 30 / 100.0 * 255);
rgbled_0.setColor(0,0,255,21);
rgbled_0.show();
_loop();
}
void _loop() {
Encoder_1.loop();
Encoder_2.loop();
}
void loop() {
_loop();
}
traduis ce code en ordinogramme format word
