Data Sheet

12/30/2015 4WDMobilePlatformSKU:ROB0022RobotWiki
https://www.dfrobot.com/wiki/index.php?title=4WD_Mobile_Platform_SKU:ROB0022 23/24
if(distance==50000){//thereadingisinvalid.
Serial.print("Invalid");
}else{
distance=distance/50;//every50uslowlevelstandsfor1cm
}
returndistance;
}
voidcarStop(){//MotorStop
digitalWrite(speedPin_M2,0);
digitalWrite(directionPin_M1,LOW);
digitalWrite(speedPin_M1,0);
digitalWrite(directionPin_M2,LOW);
}
voidcarTurnLeft(intleftSpeed,intrightSpeed){//TurnLeft
analogWrite(speedPin_M2,leftSpeed);//PWMSpeedControl
digitalWrite(directionPin_M1,HIGH);
analogWrite(speedPin_M1,rightSpeed);
digitalWrite(directionPin_M2,HIGH);
}
voidcarTurnRight(intleftSpeed,intrightSpeed){//TurnRight
analogWrite(speedPin_M2,leftSpeed);
digitalWrite(directionPin_M1,LOW);
analogWrite(speedPin_M1,rightSpeed);
digitalWrite(directionPin_M2,LOW);
}
voidcarBack(intleftSpeed,intrightSpeed){//Movebackward
analogWrite(speedPin_M2,leftSpeed);
digitalWrite(directionPin_M1,LOW);
analogWrite(speedPin_M1,rightSpeed);
digitalWrite(directionPin_M2,HIGH);
}
voidcarAdvance(intleftSpeed,intrightSpeed){//Moveforward
analogWrite(speedPin_M2,leftSpeed);
digitalWrite(directionPin_M1,HIGH);
analogWrite(speedPin_M1,rightSpeed);
digitalWrite(directionPin_M2,LOW);
}
voidservoSweep(){
if(sweepFlag){
if(pos>=60&&pos<=120){
pos=pos+1;//instepsof1degree
myservo.write(pos);//tellservotogotopositioninvariable'pos'
}
if(pos>119)sweepFlag=false;//assignthevariableagain
}
else{
if(pos>=60&&pos<=120){
pos=pos‐1;
myservo.write(pos);
}
if(pos<61)sweepFlag=true;
}
}