Mecanum - streda 2526

Program:

#include <Adafruit_NeoPixel.h>
#define PIN 13 // Pin connected to the Neopixel strip
#define NUMPIXELS 3 // Number of pixels in the strip

Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);


void setup() {
  pixels.begin();
  pinMode(2, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(7, OUTPUT);
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);
  pinMode(14, OUTPUT);
  pinMode(15, OUTPUT);
  Serial.begin(9600);
}

// IN1: H, IN2: L, PWM: H
void left_motor_a_cw() {
  digitalWrite(15, HIGH);
  digitalWrite(3, LOW);
  digitalWrite(11, HIGH);
}

void left_motor_a_ccw() {
  digitalWrite(3, HIGH);
  digitalWrite(15, LOW);
  digitalWrite(11, HIGH);
}


void left_motor_b_cw() {
  digitalWrite(2, HIGH);
  digitalWrite(7, LOW);
  digitalWrite(6, HIGH);
}

void left_motor_b_ccw() {
  digitalWrite(7, HIGH);
  digitalWrite(2, LOW);
  digitalWrite(6, HIGH);
}

void right_motor_a_cw() {
  digitalWrite(5, HIGH);
  digitalWrite(8, LOW);
  digitalWrite(10, HIGH);
}

void right_motor_a_ccw() {
  digitalWrite(8, HIGH);
  digitalWrite(5, LOW);
  digitalWrite(10, HIGH);
}

void right_motor_b_cw() {
  digitalWrite(4, HIGH);
  digitalWrite(14, LOW);
  digitalWrite(9, HIGH);
}

void right_motor_b_ccw() {
  digitalWrite(14, HIGH);
  digitalWrite(4, LOW);
  digitalWrite(9, HIGH);
}

void stop_all_motors() {
  // L: 2,3,4,5,6,8,9,15
  // H: 7,10,11,14
  digitalWrite(2, LOW);
  digitalWrite(3, LOW);
  digitalWrite(4, LOW);
  digitalWrite(5, LOW);
  digitalWrite(7, LOW);
  digitalWrite(8, LOW);
  digitalWrite(14, LOW);
  digitalWrite(15, LOW);

  digitalWrite(6, HIGH);
  digitalWrite(10, HIGH);
  digitalWrite(11, HIGH);
  digitalWrite(9, HIGH);
}

// 0  toc vlavo
// 3  dopredu
// 6  vlavo
// 9  vpravo
// 12  dozadu
// 15  toc vpravo

void otocka_vlavo()
{
    left_motor_a_ccw();
    left_motor_b_ccw();
    right_motor_a_ccw();
    right_motor_b_ccw();
}

void otocka_vpravo()
{
    left_motor_a_cw();
    left_motor_b_cw();
    right_motor_a_cw();
    right_motor_b_cw();
}

void vzad()
{
    left_motor_a_ccw();
    left_motor_b_ccw();
    right_motor_a_cw();
    right_motor_b_cw();
}

void vpred()
{
    left_motor_a_cw();
    left_motor_b_cw();
    right_motor_a_ccw();
    right_motor_b_ccw();
}

void vpravo()
{
      left_motor_a_ccw();
    left_motor_b_cw();
    right_motor_a_cw();
    right_motor_b_ccw();
}

void vlavo()
{
      left_motor_a_cw();
    left_motor_b_ccw();
    right_motor_a_ccw();
    right_motor_b_cw();
}

void farba(uint32_t f) {
    pixels.setPixelColor(1, f);
    pixels.setPixelColor(2, f);
    pixels.setPixelColor(0, f);
    pixels.setBrightness(255); // 50% brightness
    pixels.show();
}
void loop() {

  //experiment 1

  //vzad
    farba(pixels.Color(255, 0, 0));
    vzad();
    delay(1000);
    stop_all_motors();
    delay(1000);

  //vpred
    farba(pixels.Color(0, 255, 0));
    pixels.show();
    
    vpred();
    delay(1000);
    stop_all_motors();
    delay(1000);

  //otocka vlavo
    farba(pixels.Color(0, 0, 255));   
    otocka_vlavo();
    delay(1000);
    stop_all_motors();
    delay(1000);

  //otocka vpravo
    farba(pixels.Color(255, 255, 0));   
    otocka_vpravo();
    delay(1000);
    stop_all_motors();
    delay(1000);

  //vlavo
    farba(pixels.Color(50, 150, 200));   
    vlavo();
    delay(1000);
    stop_all_motors();
    delay(1000);

  //vpravo
    farba(pixels.Color(155, 9, 242));   
    vpravo();
    delay(1000);
    stop_all_motors();
    delay(1000);
}

Foto:

Video: