Act-30 Rover-Servos_Continuos

Coche Robot, con servomotores continuos.

https://www.google.com/imgres?imgurl=https%3A%2F%2Fi.ytimg.com%2Fvi%2F4oFT0UxnadA%2Fmaxresdefault.jpg&tbnid=b4AhXmZDn8K2XM&vet=12ahUKEwix5dLOs8f-AhVimScCHS00B_UQMygIegUIARDuAQ..i&imgrefurl=https%3A%2F%2Fwww.youtube.com%2Fwatch%3Fv%3D4oFT0UxnadA&docid=Q1DXm9yA3WKUKM&w=1280&h=720&q=otto%20blockly%20wheel&hl=es&client=ubuntu&ved=2ahUKEwix5dLOs8f-AhVimScCHS00B_UQMygIegUIARDuAQ

https://youtu.be/4oFT0UxnadA

https://youtu.be/EGT-Im3val0

#include <Servo.h>

#include <math.h>

Servo rightServo;

Servo leftServo;

long ultrasound_distance_1() {

   long duration, distance;

   digitalWrite(8,LOW);

   delayMicroseconds(2);

   digitalWrite(8, HIGH);

   delayMicroseconds(10);

   digitalWrite(8, LOW);

   duration = pulseIn(9, HIGH);

   distance = duration/58;

   return distance;

}

int rightSpeed = 0;

int leftSpeed = 0;

void motorControl2(int rightSpeed, int leftSpeed, int stepDelay) {

rightServo.write(90 + rightSpeed);  leftServo.write(90 - leftSpeed);

delay(stepDelay*1000);}

void setup() {

  pinMode(8, OUTPUT);

  pinMode(9, INPUT);

  rightServo.write(90);

leftServo.write(90);

delay(1000);

leftServo.attach(2);

rightServo.attach(3);

}

void loop() {

    if (ultrasound_distance_1() < 10) {

      motorControl2 (45, 45, 1 );

      delay(1*1000);

      motorControl2 (-45, 45, 1 );

      delay(1*1000);

      motorControl2 (-45, -45, 1 );

    } else if (ultrasound_distance_1() >= 10) {

      motorControl2 (-45, -45, 1 );

    }

}