[ARDUINO] 2 Motoren + Servo mit dem Arduino Uno steuern

[Torrentula]

Hallo RNler!

Bin gerade dabei, einen Roboter zu bauen, der einen Arduino Uno als Haupt-Controllerboard verwendet. Ich weiß nicht, wie viele sich hier genauer mit dem Thema Arduino befasst haben aber ich frage trotzdem.

Ich möchte mit den Pins 9 und 10 meine Motoren in der Geschwindigkeit regeln. Wenn ich nun aber die Servo-Lib verwende, sind diese für PWM allerdings nicht mehr verfügbar. Deshalb trenne ich den Servo immer wieder mittels der Methode detach() von Pin 6 um auf den Pins 9 und 10 wieder ein PWM-Signal ausgeben zu können. Obwohl nun kein Servo mehr "attached" ist, fahren die Motoren nicht wieder an. Auch der Servo bewegt sich kein Stück.

#include <Servo.h>

int duration;                                                          //Stores duration of pulse in
int distance;                                                          // Stores distance
const int sensorpin = 4;

Servo servo;

int distR;
int distL;


void getDistance(){
  
  distance = 0;
  
  pinMode(sensorpin, OUTPUT);
  digitalWrite(sensorpin, LOW);                          // Make sure pin is low before sending a short high to trigger ranging
  delayMicroseconds(2);
  digitalWrite(sensorpin, HIGH);                         // Send a short 10 microsecond high burst on pin to start ranging
  delayMicroseconds(10);
  digitalWrite(sensorpin, LOW);                                  // Send pin low again before waiting for pulse back in
  pinMode(sensorpin, INPUT);
  duration = pulseIn(sensorpin, HIGH);                        // Reads echo pulse in from SRF05 in micro seconds
  distance = duration/58;                                      // Dividing this by 58 gives us a distance in cm
}

void getDistanceR(){
  
  servo.attach(6); // servo attached to pin 6
  servo.write(0); // right position
  servo.detach(); // detach servo
  
  distR = 0;
  
  pinMode(sensorpin, OUTPUT);
  digitalWrite(sensorpin, LOW);                          // Make sure pin is low before sending a short high to trigger ranging
  delayMicroseconds(2);
  digitalWrite(sensorpin, HIGH);                         // Send a short 10 microsecond high burst on pin to start ranging
  delayMicroseconds(10);
  digitalWrite(sensorpin, LOW);                                  // Send pin low again before waiting for pulse back in
  pinMode(sensorpin, INPUT);
  duration = pulseIn(sensorpin, HIGH);                        // Reads echo pulse in from SRF05 in micro seconds
  distR = duration/58;                                      // Dividing this by 58 gives us a distance in cm
}

void getDistanceL(){
  
  servo.attach(6); // servo attached to pin 6
  servo.write(170); // left position
  servo.detach(); // detach servo
  
  distL = 0;
  
  pinMode(sensorpin, OUTPUT);
  digitalWrite(sensorpin, LOW);                          // Make sure pin is low before sending a short high to trigger ranging
  delayMicroseconds(2);
  digitalWrite(sensorpin, HIGH);                         // Send a short 10 microsecond high burst on pin to start ranging
  delayMicroseconds(10);
  digitalWrite(sensorpin, LOW);                                  // Send pin low again before waiting for pulse back in
  pinMode(sensorpin, INPUT);
  duration = pulseIn(sensorpin, HIGH);                        // Reads echo pulse in from SRF05 in micro seconds
  distL = duration/58;                                      // Dividing this by 58 gives us a distance in cm
}

void rightForward(void){
  digitalWrite(8, HIGH);
  digitalWrite(11, LOW);
}

void leftForward(void){
  digitalWrite(12, LOW);
  digitalWrite(7, HIGH);
}

void rightBackward(){
  digitalWrite(8, LOW);
  digitalWrite(11, HIGH);
}

void leftBackward(void){
  digitalWrite(12, HIGH);
  digitalWrite(7, LOW);
}

void accelerate(){
  
    analogWrite(10, 0); // R
    analogWrite(9, 0); // L
  
    for(int i = 0; i < 100; i += 5){
      analogWrite(10, i); // R
      analogWrite(9, i); // L
      delay(40);
    }
    
    analogWrite(10, 100); // R
    analogWrite(9, 100); // L
    delay(40);
}

void slowdown(){
  
  for(int i = 100; i > 0; i -= 5){
    analogWrite(10, i); // R
    analogWrite(9, i); // L
    delay(40);
  }
  
  analogWrite(10, 0); // R
  analogWrite(9, 0); // L
}

void setup(){
  
    // right motor  
    pinMode(8, OUTPUT); // 1A
    pinMode(11, OUTPUT); // 1B
    pinMode(10, OUTPUT); // PWM
    
    // left Motor 
    pinMode(9, OUTPUT); // PWM
    pinMode(12, OUTPUT); // 2A
    pinMode(7, OUTPUT); // 2B 
    
    
    
    //**** SRF05 Power ****
    pinMode(2, OUTPUT);
    pinMode(3, OUTPUT);
    pinMode(5, OUTPUT);
    
    digitalWrite(2, HIGH);
    digitalWrite(3, LOW);
    digitalWrite(5, LOW);
    //*********************
 
}

void loop(){
      
      servo.attach(6); // servo attached to pin 6
      servo.write(80); // middle position
      servo.detach(); // detach servo
      
      getDistance();
  
      rightForward();
      leftForward();
      accelerate();
      
      while(distance > 30){
        getDistance();
        delay(100);
      }
      
     slowdown();
     
     getDistanceR();
     getDistanceL();
     
     if(distL < distR){
       
        servo.attach(6); // servo attached to pin 6
        servo.write(80); // middle position
        servo.detach(); // detach servo
       
       rightBackward();
       leftForward();
       accelerate();
       
       while(distance < distR){
         getDistance();
         delay(100);
       }
       
       slowdown();
       
     }
     
     if(distR < distL){
       
       servo.attach(6); // servo attached to pin 6
       servo.write(80); // middle position
       servo.detach(); // detach servo
       
       rightForward();
       leftBackward();
       accelerate();
   
       while(distance < distL){
         getDistance();
         delay(100);
       }
     
     slowdown();
     }
 }

Hoffe jemand kann mir helfen!

MfG

Torrentula