motor

motor.rb

#!mruby
@Uart = Serial.new(4, 230400)#//TX/RX:pin12/pin11, baud rate: 230400

def set_up()
    #//L Motor PinSET
    pinMode(14, 1)
    pinMode(15, 1)
    #//R Motor PinSET
    pinMode(16, 1)
    pinMode(17, 1)
end

def motor_stop()
    pwm(14, 0)
    pwm(15,0)
    pwm(16, 0)
    pwm(17, 0)
end

def l_motorf()
    pwm(14, 0)
    pwm(15, 255)
end

def l_motorb()
    pwm(14, 255)
    pwm(15, 0)
end

def r_motorf()
    pwm(16, 0)
    pwm(17, 255)
end

def r_motorb()
    pwm(16, 255)
    pwm(17, 0)
end

    @Uart.println("setup")
    set_up()
    motor_stop()
    #//while (true) do
    2000.times do
        led 1
        #//繝・・繧ｿ蜿嶺ｿ｡
        if (@Uart.available())then  #//蜿嶺ｿ｡繝・・繧ｿ縺後≠繧区凾
            readc = @Uart.read() #//1譁・ｭ苓ｪｭ縺ｿ霎ｼ縺ｿ
            #//FF
            if(readc =="f")then
                l_motorf()
                r_motorf()
                 @Uart.println("motor FF")
            end
            #//Back
            if(readc =="b")then
                l_motorb()
                r_motorb()
                 @Uart.println("motor back")
            end
            #//L 
            if(readc =="l")then
                l_motorb()
                r_motorf()
                @Uart.println("motor left")
            end
            #//R
            if(readc =="r")then
                l_motorf()
                r_motorb()
                @Uart.println("motor right")
            end
            #//STOP
            if(readc =="s")then
                motor_stop()
                @Uart.println("motor stop")
            end
        end
        led 0
        delay(100)
    end