// Sensor sequence: SLeftLeft SMiddle SRightRight
#include "Ultrasonic.h"
Ultrasonic ultrasonic(12,13);  //Trige,Echo
int ulval;

const int SLeftLeft = 5;      //左感測器輸入腳
const int SMiddle = 6;     //中間感測器輸入腳
const int SRightRight = 7;     //右感測器輸入腳

// variables will change:

int SLL;    //左感測器狀態
int SM;    //中感測器狀態
int SRR;    //右感測器狀態

const int Motor_M1a = 13;    //R
const int Motor_M1b = 12;
const int Motor_E1 = 10;
const int Motor_M2a = 11;   //L
const int Motor_M2b = 8;  
const int Motor_E2 = 9;

byte byteSensorStatus=0;
int speed=220;

#define SENSOR_L 4;
#define SENSOR_M 2;
#define SENSOR_R 1;

void setup() {

   //set up serial communications

   Serial.begin(9600);

  // 輸出入接腳初始設定

  pinMode(SLeftLeft, INPUT);

  pinMode(SMiddle, INPUT);

  pinMode(SRightRight, INPUT);
  pinMode(Motor_M1a, OUTPUT);
  pinMode(Motor_M1b, OUTPUT);
  pinMode(Motor_M2a, OUTPUT);
  pinMode(Motor_M2b, OUTPUT);
  pinMode(Motor_E1,OUTPUT);
  pinMode(Motor_E2,OUTPUT);
}



void loop(){

 looptest();
 delay(3000);
/*
  ulval=ultrasonic.Ranging(CM);
   if (ulval < 10){
  forward(0,255);
  delay(2000);
  back(0,255);
  delay(2000);
  right(0,255);
  delay(2000);
  left(0,255);
  delay(2000);
  motorstop(0,0);
  delay(3000);

 
    }
*/



}

void looptest(){

  forward(0,255);

  delay(2000);

  back(0,255);

  delay(2000);

  right(0,255);

  delay(2000);

  left(0,255);

  delay(2000);

  motorstop(0,0);

  delay(3000);

}

void motorstop(byte flag, byte numOfValues)

{

  digitalWrite( Motor_E1, 0);

  digitalWrite( Motor_E2, 0);

//  Serial.println("stop : ");

}

void forward(byte flag, byte numOfValues)

{

  digitalWrite( Motor_M1a, LOW);
  digitalWrite( Motor_M1b, HIGH);

  digitalWrite( Motor_M2a, HIGH);
  digitalWrite( Motor_M2b, LOW);

  analogWrite( Motor_E1, numOfValues);

  analogWrite( Motor_E2, numOfValues);

}

void back(byte flag, byte numOfValues)

{

 digitalWrite( Motor_M1a, HIGH);
  digitalWrite( Motor_M1b, LOW);

  digitalWrite( Motor_M2a, LOW);
  digitalWrite( Motor_M2b, HIGH);


  analogWrite( Motor_E1, numOfValues);

  analogWrite( Motor_E2, numOfValues);

}

void right(byte flag, byte numOfValues)

{

  digitalWrite( Motor_M1a, HIGH);
  digitalWrite( Motor_M1b, LOW);

  digitalWrite( Motor_M2a, HIGH);
  digitalWrite( Motor_M2b, LOW);


  analogWrite( Motor_E1, numOfValues);

  analogWrite( Motor_E2, numOfValues);

}

void left(byte flag, byte numOfValues)

{

  digitalWrite( Motor_M1a, LOW);
  digitalWrite( Motor_M1b, HIGH);

  digitalWrite( Motor_M2a, LOW);
  digitalWrite( Motor_M2b, HIGH);
 
 analogWrite( Motor_E1, numOfValues);

  analogWrite( Motor_E2, numOfValues);

}

7/16比賽用音樂

#include "pitches.h"

// notes in the melody:
int melody[] = {
  NOTE_A7, NOTE_B7, NOTE_A7, NOTE_A7, NOTE_B7, 0, NOTE_B7, NOTE_G7
};

// note durations: 4 = quarter note, 8 = eighth note, etc.:
int noteDurations[] = {
  4, 4, 8, 4, 8, 8, 4, 8
};

void setup() {
  // iterate over the notes of the melody:
  for (int thisNote = 0; thisNote < 8; thisNote++) {

    // to calculate the note duration, take one second
    // divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/8, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(8);
  }
}

void loop() {
   for (int thisNote = 0; thisNote < 8; thisNote++) {

    // to calculate the note duration, take one second
    // divided by the note type.
    //e.g. quarter note = 1000 / 4, eighth note = 1000/8, etc.
    int noteDuration = 1000 / noteDurations[thisNote];
    tone(8, melody[thisNote], noteDuration);

    // to distinguish the notes, set a minimum time between them.
    // the note's duration + 30% seems to work well:
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    // stop the tone playing:
    noTone(8);
  }
}

馬達

SERVO馬達

#include <Servo.h>

Servo myservo;  // create servo object to control a servo

int potpin = 0控制位子的地方;  // analog pin used to connect the potentiometer

int val;    // variable to read the value from the analog pin

void setup() {

  myservo.attach(9)馬達的位子;  // attaches the servo on pin 9 to the servo object

}

void loop() {

  val = analogRead(potpin);            // reads the value of the potentiometer (value between 0 and 1023)

  val = map(val, 0, 1023, 0, 180);     // scale it to use it with the servo (value between 0 and 180)

  myservo.write(val);                  // sets the servo position according to the scaled value

  delay(15);                           // waits for the servo to get there