reel-withoutMaster

v17.ino

#include <Servo.h>

Servo shinten;
Servo svrechts;
Servo svlinks;

int incomingByte = 3;

int ballda;

int ledshooter = 24;
int ledtarget = 22;

int motorrechts_A=12;
int motorrechts_B=9;
int motorlinks_A=13;
int motorlinks_B=8;

int motorrechts_Speed=3;
int motorlinks_Speed=11;

int senvorne=A3;
int senhinten=A2;

int sensorWertv=0;
int sensorWerth=0;

int durchlauf;

void setup() {

  Serial.begin(9600);

  int ballda = 0;
  int ballziel = 8;
  durchlauf = 0;
  
  //Setup Motor Rechts
  pinMode(motorrechts_A, OUTPUT); //Initiates Motor Channel A pin
  pinMode(motorrechts_B, OUTPUT); //Initiates Brake Channel A pin

  //Setup Motor Links
  pinMode(motorlinks_A, OUTPUT); //Initiates Motor Channel A pin
  pinMode(motorlinks_B, OUTPUT);  //Initiates Brake Channel A pin

  pinMode(ledshooter, OUTPUT); //Initiates Brake Channel A pin
  pinMode(ledtarget, OUTPUT); //Initiates Brake Channel A pin

  shinten.attach(10);
  svrechts.attach(5);
  svlinks.attach(6);  

  digitalWrite(ledshooter, LOW);
  digitalWrite(ledtarget, LOW);
}

void loop(){
   if (Serial.available() > 0) {
                // read the incoming byte:
      incomingByte = Serial.parseInt();

                // say what you got:
      Serial.print("I received: ");
      Serial.println(incomingByte, DEC);
   }
int ballziel = incomingByte;

if(ballziel==3){
  digitalWrite(ledtarget, HIGH);
}else{
  digitalWrite(ledtarget, LOW);
}

if(analogRead(senvorne) >= 500 && ballda == 0){ //sichere Erkennung bei Wert 450
  
  //Ball nach hinten
  digitalWrite(ledshooter, HIGH);
  ballda = 1;
  
  shinten.write(135);
  delay(250);

  //Motor A forward @ low speed
  digitalWrite(motorrechts_A, HIGH); //Establishes forward direction of Channel A
  digitalWrite(motorrechts_B, LOW);   //Disengage the Brake for Channel A
  analogWrite(motorrechts_Speed, 90);   //Spins the motor on Channel A at full speed

  //Motor B backward @ low speed
  digitalWrite(motorlinks_A, LOW);  //Establishes backward direction of Channel B
  digitalWrite(motorlinks_B, LOW);   //Disengage the Brake for Channel B
  analogWrite(motorlinks_Speed, 60);    //Spins the motor on Channel B at half speed   
  shinten.write(80);
  delay(2000);

  analogWrite(motorrechts_Speed, 0);   //Spins the motor on Channel A at full speed
  analogWrite(motorlinks_Speed, 0);    //Spins the motor on Channel B at half speed         
    
  digitalWrite(motorrechts_B, HIGH);  //Engage the Brake for Motor Rechts
  digitalWrite(motorlinks_B, HIGH);  //Engage the Brake for Motor Links
  delay(1000);   
}else if(analogRead(senhinten)>=500){

digitalWrite(ledshooter, HIGH);
ballda = 1;  
 
switch (incomingByte) {
    case 0: //nach links hinten

     svrechts.write(100);
     delay(50);
    
  //Motor A forward @ low speed
  digitalWrite(motorrechts_A, LOW); //Establishes forward direction of Channel A
  digitalWrite(motorrechts_B, LOW);   //Disengage the Brake for Channel A
  analogWrite(motorrechts_Speed, 70);   //Spins the motor on Channel A at full speed

  //Motor B backward @ low speed
  digitalWrite(motorlinks_A, HIGH);  //Establishes backward direction of Channel B
  digitalWrite(motorlinks_B, LOW);   //Disengage the Brake for Channel B
  analogWrite(motorlinks_Speed, 110);    //Spins the motor on Channel B at half speed
     delay(500);

     shinten.write(115);
  delay(1000);
  incomingByte = 8;
  delay(1000);          
      break;
        
    case 1: //nach rechts hinten

     svlinks.write(70);
     delay(50);
    
  //Motor A forward @ low speed
  digitalWrite(motorrechts_A, LOW); //Establishes forward direction of Channel A
  digitalWrite(motorrechts_B, LOW);   //Disengage the Brake for Channel A
  analogWrite(motorrechts_Speed, 110);   //Spins the motor on Channel A at full speed

  //Motor B backward @ low speed
  digitalWrite(motorlinks_A, HIGH);  //Establishes backward direction of Channel B
  digitalWrite(motorlinks_B, LOW);   //Disengage the Brake for Channel B
  analogWrite(motorlinks_Speed, 90);    //Spins the motor on Channel B at half speed
     delay(500);

     shinten.write(115);
  delay(1000);
  incomingByte = 8;
  delay(1000);     
      break;     

    case 2: //nach rechts vorne

     svlinks.write(70);
     delay(50);
    
  //Motor A forward @ low speed
  digitalWrite(motorrechts_A, LOW); //Establishes forward direction of Channel A
  digitalWrite(motorrechts_B, LOW);   //Disengage the Brake for Channel A
  analogWrite(motorrechts_Speed, 70);   //Spins the motor on Channel A at full speed

  //Motor B backward @ low speed
  digitalWrite(motorlinks_A, HIGH);  //Establishes backward direction of Channel B
  digitalWrite(motorlinks_B, LOW);   //Disengage the Brake for Channel B
  analogWrite(motorlinks_Speed, 55);    //Spins the motor on Channel B at half speed
     delay(500);

     shinten.write(115);
  delay(1000);
  incomingByte = 8;
  delay(1000);         
      break;
      
    case 4: //nach links vorne

     svrechts.write(100);
     delay(50);
    
  //Motor A forward @ low speed
  digitalWrite(motorrechts_A, LOW); //Establishes forward direction of Channel A
  digitalWrite(motorrechts_B, LOW);   //Disengage the Brake for Channel A
  analogWrite(motorrechts_Speed, 60);   //Spins the motor on Channel A at full speed

  //Motor B backward @ low speed
  digitalWrite(motorlinks_A, HIGH);  //Establishes backward direction of Channel B
  digitalWrite(motorlinks_B, LOW);   //Disengage the Brake for Channel B
  analogWrite(motorlinks_Speed, 70);    //Spins the motor on Channel B at half speed
     delay(500);

     shinten.write(115);
  delay(1000);
  incomingByte = 8;
  delay(1000);     
      break;          
                
    default: 

    shinten.write(80);
    svrechts.write(50);
    svlinks.write(120);

  analogWrite(motorrechts_Speed, 0);   //Spins the motor on Channel A at full speed
  analogWrite(motorlinks_Speed, 0);    //Spins the motor on Channel B at half speed         
    
    digitalWrite(motorrechts_B, HIGH);  //Engage the Brake for Motor Rechts
    digitalWrite(motorlinks_B, HIGH);  //Engage the Brake for Motor Links
    delay(1000);

    break;

ballda=1;    
}    
}else{
  shinten.write(135);
  svrechts.write(50);
  svlinks.write(120);

  analogWrite(motorrechts_Speed, 0);   //Spins the motor on Channel A at full speed
  analogWrite(motorlinks_Speed, 0);    //Spins the motor on Channel B at half speed         
    
  digitalWrite(motorrechts_B, HIGH);  //Engage the Brake for Motor Rechts
  digitalWrite(motorlinks_B, HIGH);  //Engage the Brake for Motor Links  
  
  digitalWrite(ledshooter, LOW);
  digitalWrite(ledtarget, LOW);
  if(ballda==1){
    delay(1000);
    ballda = 0;
  } 
  }
}