6 Link: http://aero.piffa.net
16 // Configurazione con OUTPUT digitali
29 int pos = 0; // variable to store the servo position
30 const byte servoPIN =9 ;
31 const byte middle = 90; // Centratura servo
32 const int spausa = 10; // Pausa movimenti servo
33 const byte sx = 10; // Min SX
34 const byte dx = 170; // Maz DX
35 Servo myservo; // Non c'e' bisogno di extern se e' dichiarato in questo scope
37 ////////////////////////
41 // Abilita i PINs come OUTPUTS
50 pinMode(servoPIN, OUTPUT);
51 myservo.attach(servoPIN);
58 digitalWrite(in1,LOW);
59 digitalWrite(in2,HIGH);
60 analogWrite(enA,speedA);
63 void forwardA(byte speedA) {
65 digitalWrite(in1,LOW);
66 digitalWrite(in2,HIGH);
67 analogWrite(enA,speedA);
72 digitalWrite(in2,LOW);
73 digitalWrite(in1,HIGH);
74 analogWrite(enA,speedA);
77 void backwardA(byte speedA) {
79 digitalWrite(in2,LOW);
80 digitalWrite(in1,HIGH);
81 analogWrite(enA,speedA);
86 digitalWrite(enA,LOW);
92 digitalWrite(in3,LOW);
93 digitalWrite(in4,HIGH);
94 analogWrite(enB,speedB);
97 void forwardB(byte speedB) {
99 digitalWrite(in3,LOW);
100 digitalWrite(in4,HIGH);
101 analogWrite(enB,speedB);
106 digitalWrite(in4,LOW);
107 digitalWrite(in3,HIGH);
108 analogWrite(enB,speedB);
111 void backwardB(byte speedB) {
113 digitalWrite(in4,LOW);
114 digitalWrite(in3,HIGH);
115 analogWrite(enB,speedB);
120 digitalWrite(enB,LOW);
126 // Drive ahead: funzione composita
131 // Drive backward: funzione composita
156 myservo.write(pos++);
164 myservo.write(pos--);
171 while (pos > middle) {
172 myservo.write(pos--);
175 while (pos < middle) {
176 myservo.write(pos++);