求教小车运动过程中发现物体并夹取的问题
#include <DCMotor.h>
DCMotor motor0(M0_EN, M0_D0, M0_D1);
DCMotor motor1(M1_EN, M1_D0, M1_D1);
#include <Servo.h>
Servo myservo0;// create servo object to control a servo
// a maximum of eight servo objects can be created
Servo myservo1;// create servo object to control a servo
// a maximum of eight servo objects can be created
int pos = 0; // variable to store the servo position
void setup()
{
}
void gostraight() // 直线。
{
motor0.setSpeed(100);
motor1.setSpeed(-100);
} //直线
void right()//右边出现危险品，捕捉
{
motor0.setSpeed(0);
motor1.setSpeed(0);
myservo0.attach(0);// attaches the servo0 on pin 0 to the servo object
myservo1.attach(1);// attaches the servo1 on pin 1 to the servo object
for(pos = 90; pos >0; pos -= 1)// goes from 0 degrees to 180 degrees 发现右边危险品主舵机转到180度位副舵机转到0度位
{ // in steps of 1 degree
myservo0.write(pos); // tell servo0 to go to position in variable 'pos'
delay(5); // waits 15ms for the servo to reach the position
}
for(pos = 90; pos <180; pos += 1)// goes from 0 degrees to 180 degrees 副舵机张开
{ // in steps of 1 degree
myservo1.write(pos); // tell servo0 to go to position in variable 'pos'
delay(5); // waits 15ms for the servo to reach the position
}
delay(1000); // wait 1 s等待1s
for(pos = 180; pos >105; pos -= 1)// goes from 0 degrees to 180 degrees 副舵机夹紧并保持
{ // in steps of 1 degree
myservo1.write(pos); // tell servo0 to go to position in variable 'pos'
delay(5); // waits 15ms for the servo to reach the position
}
for(pos = 0; pos <100; pos += 1)// goes from 0 degrees to 180 degrees 主舵机归位100度
{ // in steps of 1 degree
myservo0.write(pos); // tell servo0 to go to position in variable 'pos'
delay(5); // waits 15ms for the servo to reach the position
}
for(pos =105; pos <150; pos += 1)// goes from 0 degrees to 180 degrees 副舵机松开至150度
{ // in steps of 1 degree
myservo1.write(pos); // tell servo0 to go to position in variable 'pos'
delay(5); // waits 15ms for the servo to reach the position
}
}
void loop()
{
gostraight() ; // 直线。
if(300<analogRead(A1))
{
right();
}
}
小车可以直行 也可以夹取。但如何将二者结合起来？？？
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