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 = 30; // Pausa movimenti servo
33 Servo myservo; // Non c'e' bisogno di extern se e' dichiarato in questo scope
35 ////////////////////////
39 // Abilita i PINs come OUTPUTS
48 pinMode(servoPIN, OUTPUT);
49 myservo.attach(servoPIN);
56 digitalWrite(in1,LOW);
57 digitalWrite(in2,HIGH);
58 analogWrite(enA,speedA);
61 void forwardA(byte speedA) {
63 digitalWrite(in1,LOW);
64 digitalWrite(in2,HIGH);
65 analogWrite(enA,speedA);
70 digitalWrite(in2,LOW);
71 digitalWrite(in1,HIGH);
72 analogWrite(enA,speedA);
75 void backwardA(byte speedA) {
77 digitalWrite(in2,LOW);
78 digitalWrite(in1,HIGH);
79 analogWrite(enA,speedA);
84 digitalWrite(enA,LOW);
90 digitalWrite(in3,LOW);
91 digitalWrite(in4,HIGH);
92 analogWrite(enB,speedB);
95 void forwardB(byte speedB) {
97 digitalWrite(in3,LOW);
98 digitalWrite(in4,HIGH);
99 analogWrite(enB,speedB);
104 digitalWrite(in4,LOW);
105 digitalWrite(in3,HIGH);
106 analogWrite(enB,speedB);
109 void backwardB(byte speedB) {
111 digitalWrite(in4,LOW);
112 digitalWrite(in3,HIGH);
113 analogWrite(enB,speedB);
118 digitalWrite(enB,LOW);
134 myservo.write(middle);