Robotický krúžok - Príspevky používateľa [sk]

Robot s mecanum podvozkom

2026-01-12T16:30:34Z

Šimon:

Odkazy:

* [https://www.pololu.com/file/0J86/TB6612FNG.pdf datasheet k radiču na motory]
* [[Media:prg.zip|-dvadsiata verzia programu]]

<pre>
PWMA 11 10
AIN2 3 8
AIN1 A1 5
BIN1 2 4
BIN2 7 A0
PWMB 6 9
</pre>

* [[Media:prg_mecanum_test.zip|testovací program pre všetkých 16 kombinácií]]

* Prvá pekná funkčná verzia:

<syntaxhighlight lang="C++">
void setup() {
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
pinMode(14, OUTPUT);
pinMode(15, OUTPUT);
Serial.begin(9600);
}

// IN1: H, IN2: L, PWM: H
void left_motor_a_cw() {
digitalWrite(15, HIGH);
digitalWrite(3, LOW);
digitalWrite(11, HIGH);
}

void left_motor_a_ccw() {
digitalWrite(3, HIGH);
digitalWrite(15, LOW);
digitalWrite(11, HIGH);
}

void left_motor_b_cw() {
digitalWrite(2, HIGH);
digitalWrite(7, LOW);
digitalWrite(6, HIGH);
}

void left_motor_b_ccw() {
digitalWrite(7, HIGH);
digitalWrite(2, LOW);
digitalWrite(6, HIGH);
}

void right_motor_a_cw() {
digitalWrite(5, HIGH);
digitalWrite(8, LOW);
digitalWrite(10, HIGH);
}

void right_motor_a_ccw() {
digitalWrite(8, HIGH);
digitalWrite(5, LOW);
digitalWrite(10, HIGH);
}

void right_motor_b_cw() {
digitalWrite(4, HIGH);
digitalWrite(14, LOW);
digitalWrite(9, HIGH);
}

void right_motor_b_ccw() {
digitalWrite(14, HIGH);
digitalWrite(4, LOW);
digitalWrite(9, HIGH);
}

void stop_all_motors() {
// L: 2,3,4,5,6,8,9,15
// H: 7,10,11,14
digitalWrite(2, LOW);
digitalWrite(3, LOW);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
digitalWrite(7, LOW);
digitalWrite(8, LOW);
digitalWrite(14, LOW);
digitalWrite(15, LOW);

digitalWrite(6, HIGH);
digitalWrite(10, HIGH);
digitalWrite(11, HIGH);
digitalWrite(9, HIGH);
}

// 0 toc vlavo
// 3 dopredu
// 6 vlavo
// 9 vpravo
// 12 dozadu
// 15 toc vpravo

void otocka_vlavo()
{
left_motor_a_ccw();
left_motor_b_ccw();
right_motor_a_ccw();
right_motor_b_ccw();
}

void otocka_vpravo()
{
left_motor_a_cw();
left_motor_b_cw();
right_motor_a_cw();
right_motor_b_cw();
}

void vzad()
{
left_motor_a_ccw();
left_motor_b_ccw();
right_motor_a_cw();
right_motor_b_cw();
}

void vpred()
{
left_motor_a_cw();
left_motor_b_cw();
right_motor_a_ccw();
right_motor_b_ccw();
}

void vpravo()
{
left_motor_a_ccw();
left_motor_b_cw();
right_motor_a_cw();
right_motor_b_ccw();
}

void vlavo()
{
left_motor_a_cw();
left_motor_b_ccw();
right_motor_a_ccw();
right_motor_b_cw();
}

void loop() {

//experiment 1

//vzad
vzad();
delay(1000);
stop_all_motors();
delay(1000);

//vpred
vpred();
delay(1000);
stop_all_motors();
delay(1000);

//otocka vlavo
otocka_vlavo();
delay(1000);
stop_all_motors();
delay(1000);

//otocka vpravo
otocka_vpravo();
delay(1000);
stop_all_motors();
delay(1000);

//vlavo
vlavo();
delay(1000);
stop_all_motors();
delay(1000);

//vpravo
vpravo();
delay(1000);
stop_all_motors();
delay(1000);
}
</syntaxhighlight>

<youtube>uF86j4S_eR4</youtube>

<youtube>nAwwLohU5JA</youtube>

* [[Media:sikmo.zip|Stiahnite si program!]]

Chceli by sme funkciu, ktorá pohne vozíkom do zadaného uhla zadanou rýchlosťou. Prvý pokus:

<syntaxhighlight lang="C++">
void sikmo_uhol_vpravo(int angle, int speed)
{
if (uhol < 45)
{
int s2 = round(speed * tan((45 - angle) / 180.0 * M_PI));
left_motor_a_cw(speed);
left_motor_b_cw(s2);
right_motor_a_cw(speed);
right_motor_b_cw(s2);
}
else if (uhol < 90)
{
int s2 = round(speed * tan((angle - 45) / 180.0 * M_PI))
left_motor_a_cw(speed);
left_motor_b_ccw(s2);
right_motor_a_ccw(speed);
right_motor_b_cw(s2);
}
else if (uhol < 135)
{
int s2 = round(speed * tan((angle- 45) / 180.0 * M_PI))
left_motor_a_cw(s2);
left_motor_b_ccw(speed);
right_motor_a_ccw(s2);
right_motor_b_cw(speed);
}
else
{
int s2 = round(speed * tan((angle - 135) / 180.0 * M_PI))
left_motor_a_ccw(s2);
left_motor_b_ccw(speed);
right_motor_a_ccw(s2);
right_motor_b_ccw(speed);
}
}
</syntaxhighlight>
Pokus o program:
<syntaxhighlight lang="C">

#include <Adafruit_NeoPixel.h>
#define PIN 13 // Pin connected to the Neopixel strip
#define NUMPIXELS 3 // Number of pixels in the strip

Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);

#include <math.h>
void setup() {
pixels.begin();
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
pinMode(14, OUTPUT);
pinMode(15, OUTPUT);
Serial.begin(9600);
}

void farba(uint32_t f) {
pixels.setPixelColor(1, f);
pixels.setPixelColor(2, f);
pixels.setPixelColor(0, f);
pixels.setBrightness(255); // 50% brightness
pixels.show();
}

// IN1: H, IN2: L, PWM: H
void left_motor_a_cw(int speed) {
digitalWrite(15, HIGH);
digitalWrite(3, LOW);
analogWrite(11, speed);
}

void left_motor_a_ccw(int speed) {
digitalWrite(3, HIGH);
digitalWrite(15, LOW);
analogWrite(11, speed);
}

void left_motor_b_cw(int speed) {
digitalWrite(2, HIGH);
digitalWrite(7, LOW);
analogWrite(6, speed);
}

void left_motor_b_ccw(int speed) {
digitalWrite(7, HIGH);
digitalWrite(2, LOW);
analogWrite(6, speed);
}

void right_motor_a_cw(int speed) {
digitalWrite(5, HIGH);
digitalWrite(8, LOW);
analogWrite(10, speed);
}

void right_motor_a_ccw(int speed) {
digitalWrite(8, HIGH);
digitalWrite(5, LOW);
analogWrite(10, speed);
}

void right_motor_b_cw(int speed) {
digitalWrite(4, HIGH);
digitalWrite(14, LOW);
analogWrite(9, speed);
}

void right_motor_b_ccw(int speed) {
digitalWrite(14, HIGH);
digitalWrite(4, LOW);
analogWrite(9, speed);
}

void stop_all_motors() {
// L: 2,3,4,5,6,8,9,15
// H: 7,10,11,14
digitalWrite(2, LOW);
digitalWrite(3, LOW);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
digitalWrite(7, LOW);
digitalWrite(8, LOW);
digitalWrite(14, LOW);
digitalWrite(15, LOW);

digitalWrite(6, HIGH);
digitalWrite(10, HIGH);
digitalWrite(11, HIGH);
digitalWrite(9, HIGH);
}

/*
//verzia testu 1

left_motor_a_cw();
left_motor_b_cw();
right_motor_a_cw();
right_motor_b_cw();
delay(2500);
stop_all_motors();
delay(2500);

left_motor_a_ccw(255);
left_motor_b_ccw();
right_motor_a_ccw();
right_motor_b_ccw();
delay(2500);
stop_all_motors();
delay(2500);

left_motor_a_cw();
left_motor_b_cw();
right_motor_a_ccw();
right_motor_b_ccw();
delay(2500);
stop_all_motors();
delay(2500);

left_motor_a_ccw(255);
left_motor_b_ccw();
right_motor_a_cw();
right_motor_b_cw();
delay(2500);
stop_all_motors();
delay(2500);

left_motor_a_ccw(255);
left_motor_b_ccw();
right_motor_a_ccw();
right_motor_b_cw();
delay(2500);
*/

// 0 toc vlavo
// 3 dopredu
// 6 vlavo
// 9 vpravo
// 12 dozadu
// 15 toc vpravo

void otocka_vlavo(int speed)
{
left_motor_a_ccw(speed);
left_motor_b_ccw(speed);
right_motor_a_ccw(speed);
right_motor_b_ccw(speed);
}

void otocka_vpravo(int speed)
{
left_motor_a_cw(speed);
left_motor_b_cw(speed);
right_motor_a_cw(speed);
right_motor_b_cw(speed);
}

void sikmo_vpravo(int speed1, int speed2)
{
left_motor_a_cw(speed1);
left_motor_b_ccw(speed2);
right_motor_a_ccw(speed1);
right_motor_b_cw(speed2);
}

//sikma vpravo

void sikmo_uhol_vpravo(int angle, int speed)
{
if (angle < 45)
{
int s2 = round(speed * tan((45 - angle) / 180.0 * M_PI));
left_motor_a_cw(speed);
left_motor_b_cw(s2);
right_motor_a_cw(speed);
right_motor_b_cw(s2);
}
else if (angle < 90)
{
int s2 = round(speed * tan((angle - 45) / 180.0 * M_PI));
left_motor_a_cw(speed);
left_motor_b_ccw(s2);
right_motor_a_ccw(speed);
right_motor_b_cw(s2);
}
else if (angle < 135)
{
int s2 = round(speed * tan((angle- 45) / 180.0 * M_PI));
left_motor_a_cw(s2);
left_motor_b_ccw(speed);
right_motor_a_ccw(s2);
right_motor_b_cw(speed);
}
else
{
int s2 = round(speed * tan((angle - 135) / 180.0 * M_PI));
left_motor_a_ccw(s2);
left_motor_b_ccw(speed);
right_motor_a_ccw(s2);
right_motor_b_ccw(speed);
}

}

//sikma vlavo

void sikmo_uhol_vlavo(int angle, int speed)
{
if (angle < 45)
{
int s2 = round(speed * tan((45 - angle) / 180.0 * M_PI));
left_motor_b_cw(speed);
left_motor_a_cw(s2);
right_motor_b_cw(speed);
right_motor_a_cw(s2);
}
else if (angle < 90)
{
int s2 = round(speed * tan((angle - 45) / 180.0 * M_PI));
left_motor_b_cw(speed);
left_motor_a_ccw(s2);
right_motor_b_ccw(speed);
right_motor_a_cw(s2);
}
else if (angle < 135)
{
int s2 = round(speed * tan((angle- 45) / 180.0 * M_PI));
left_motor_b_cw(s2);
left_motor_a_ccw(speed);
right_motor_b_ccw(s2);
right_motor_a_cw(speed);
}
else
{
int s2 = round(speed * tan((angle - 135) / 180.0 * M_PI));
left_motor_b_ccw(s2);
left_motor_a_ccw(speed);
right_motor_b_ccw(s2);
right_motor_a_ccw(speed);
}

}

//otocka pokus

void pokus(int speed)
{
for (int a = 0; a < 180; a = a + 20)
{
farba(pixels.Color(a * 7 / 5, 0, 255 - a * 7 / 5));
sikmo_uhol_vpravo(a, speed);
delay(3000);
stop_all_motors();
delay(3000);

}
for (int a = 180; a > 0; a = a - 20)
{
farba(pixels.Color(255 - a * 7 / 5, 0, a * 7 / 5));
sikmo_uhol_vlavo(a, speed);
delay(3000);
stop_all_motors();
delay(3000);

}
stop_all_motors();
}

void vzad(int speed)
{
left_motor_a_ccw(speed);
left_motor_b_ccw(speed);
right_motor_a_cw(speed);
right_motor_b_cw(speed);
}

void vpred(int speed)
{
left_motor_a_cw(speed);
left_motor_b_cw(speed);
right_motor_a_ccw(speed);
right_motor_b_ccw(speed);
}

void vpravo(int speed)
{
left_motor_a_ccw(speed);
left_motor_b_cw(speed);
right_motor_a_cw(speed);
right_motor_b_ccw(speed);
}

void vlavo(int speed)
{
left_motor_a_cw(speed);
left_motor_b_ccw(speed);
right_motor_a_ccw(speed);
right_motor_b_cw(speed);
}

void loop() {

pokus(220);

//experiment 1

sikmo_vpravo(255, 110);
delay(3000);
stop_all_motors();
delay(1000);

return;

for (int s = 127; s < 256; s += 32)
{
//vzad
vzad(s);
delay(1000);
stop_all_motors();
delay(1000);

//vpred
vpred(s);
delay(1000);
stop_all_motors();
delay(1000);

//otocka vlavo
otocka_vlavo(s);
delay(1000);
stop_all_motors();
delay(1000);

//otocka vpravo
otocka_vpravo(s);
delay(1000);
stop_all_motors();
delay(1000);

//vlavo
vlavo(s);
delay(1000);
stop_all_motors();
delay(1000);

//vpravo
vpravo(s);
delay(1000);
stop_all_motors();
delay(1000);
}
}

/*

//verzia testu 2

for (int i = 0; i < 16; i++) {
if (i & 1) left_motor_a_cw();
else left_motor_a_ccw(255);
if (i & 2) left_motor_b_cw();
else left_motor_b_ccw();
if (i & 4) right_motor_a_cw();
else right_motor_a_ccw();
if (i & 8) right_motor_b_cw();
else right_motor_b_ccw();
delay(2500);
stop_all_motors();
delay(2500);

}

stop_all_motors();
delay(5000);
}

*/

</syntaxhighlight>

Robot s mecanum podvozkom

2026-01-12T16:28:10Z

Šimon:

Odkazy:

* [https://www.pololu.com/file/0J86/TB6612FNG.pdf datasheet k radiču na motory]
* [[Media:prg.zip|-dvadsiata verzia programu]]

<pre>
PWMA 11 10
AIN2 3 8
AIN1 A1 5
BIN1 2 4
BIN2 7 A0
PWMB 6 9
</pre>

* [[Media:prg_mecanum_test.zip|testovací program pre všetkých 16 kombinácií]]

* Prvá pekná funkčná verzia:

<syntaxhighlight lang="C++">
void setup() {
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
pinMode(14, OUTPUT);
pinMode(15, OUTPUT);
Serial.begin(9600);
}

// IN1: H, IN2: L, PWM: H
void left_motor_a_cw() {
digitalWrite(15, HIGH);
digitalWrite(3, LOW);
digitalWrite(11, HIGH);
}

void left_motor_a_ccw() {
digitalWrite(3, HIGH);
digitalWrite(15, LOW);
digitalWrite(11, HIGH);
}

void left_motor_b_cw() {
digitalWrite(2, HIGH);
digitalWrite(7, LOW);
digitalWrite(6, HIGH);
}

void left_motor_b_ccw() {
digitalWrite(7, HIGH);
digitalWrite(2, LOW);
digitalWrite(6, HIGH);
}

void right_motor_a_cw() {
digitalWrite(5, HIGH);
digitalWrite(8, LOW);
digitalWrite(10, HIGH);
}

void right_motor_a_ccw() {
digitalWrite(8, HIGH);
digitalWrite(5, LOW);
digitalWrite(10, HIGH);
}

void right_motor_b_cw() {
digitalWrite(4, HIGH);
digitalWrite(14, LOW);
digitalWrite(9, HIGH);
}

void right_motor_b_ccw() {
digitalWrite(14, HIGH);
digitalWrite(4, LOW);
digitalWrite(9, HIGH);
}

void stop_all_motors() {
// L: 2,3,4,5,6,8,9,15
// H: 7,10,11,14
digitalWrite(2, LOW);
digitalWrite(3, LOW);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
digitalWrite(7, LOW);
digitalWrite(8, LOW);
digitalWrite(14, LOW);
digitalWrite(15, LOW);

digitalWrite(6, HIGH);
digitalWrite(10, HIGH);
digitalWrite(11, HIGH);
digitalWrite(9, HIGH);
}

// 0 toc vlavo
// 3 dopredu
// 6 vlavo
// 9 vpravo
// 12 dozadu
// 15 toc vpravo

void otocka_vlavo()
{
left_motor_a_ccw();
left_motor_b_ccw();
right_motor_a_ccw();
right_motor_b_ccw();
}

void otocka_vpravo()
{
left_motor_a_cw();
left_motor_b_cw();
right_motor_a_cw();
right_motor_b_cw();
}

void vzad()
{
left_motor_a_ccw();
left_motor_b_ccw();
right_motor_a_cw();
right_motor_b_cw();
}

void vpred()
{
left_motor_a_cw();
left_motor_b_cw();
right_motor_a_ccw();
right_motor_b_ccw();
}

void vpravo()
{
left_motor_a_ccw();
left_motor_b_cw();
right_motor_a_cw();
right_motor_b_ccw();
}

void vlavo()
{
left_motor_a_cw();
left_motor_b_ccw();
right_motor_a_ccw();
right_motor_b_cw();
}

void loop() {

//experiment 1

//vzad
vzad();
delay(1000);
stop_all_motors();
delay(1000);

//vpred
vpred();
delay(1000);
stop_all_motors();
delay(1000);

//otocka vlavo
otocka_vlavo();
delay(1000);
stop_all_motors();
delay(1000);

//otocka vpravo
otocka_vpravo();
delay(1000);
stop_all_motors();
delay(1000);

//vlavo
vlavo();
delay(1000);
stop_all_motors();
delay(1000);

//vpravo
vpravo();
delay(1000);
stop_all_motors();
delay(1000);
}
</syntaxhighlight>

<youtube>uF86j4S_eR4</youtube>

<youtube>nAwwLohU5JA</youtube>

* [[Media:sikmo.zip|Stiahnite si program!]]

Chceli by sme funkciu, ktorá pohne vozíkom do zadaného uhla zadanou rýchlosťou. Prvý pokus:

<syntaxhighlight lang="C++">
void sikmo_uhol_vpravo(int angle, int speed)
{
if (uhol < 45)
{
int s2 = round(speed * tan((45 - angle) / 180.0 * M_PI));
left_motor_a_cw(speed);
left_motor_b_cw(s2);
right_motor_a_cw(speed);
right_motor_b_cw(s2);
}
else if (uhol < 90)
{
int s2 = round(speed * tan((angle - 45) / 180.0 * M_PI))
left_motor_a_cw(speed);
left_motor_b_ccw(s2);
right_motor_a_ccw(speed);
right_motor_b_cw(s2);
}
else if (uhol < 135)
{
int s2 = round(speed * tan((angle- 45) / 180.0 * M_PI))
left_motor_a_cw(s2);
left_motor_b_ccw(speed);
right_motor_a_ccw(s2);
right_motor_b_cw(speed);
}
else
{
int s2 = round(speed * tan((angle - 135) / 180.0 * M_PI))
left_motor_a_ccw(s2);
left_motor_b_ccw(speed);
right_motor_a_ccw(s2);
right_motor_b_ccw(speed);
}
}

Pokus o program:
<syntaxhighlight lang="C">

#include <Adafruit_NeoPixel.h>
#define PIN 13 // Pin connected to the Neopixel strip
#define NUMPIXELS 3 // Number of pixels in the strip

Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);

#include <math.h>
void setup() {
pixels.begin();
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
pinMode(14, OUTPUT);
pinMode(15, OUTPUT);
Serial.begin(9600);
}

void farba(uint32_t f) {
pixels.setPixelColor(1, f);
pixels.setPixelColor(2, f);
pixels.setPixelColor(0, f);
pixels.setBrightness(255); // 50% brightness
pixels.show();
}

// IN1: H, IN2: L, PWM: H
void left_motor_a_cw(int speed) {
digitalWrite(15, HIGH);
digitalWrite(3, LOW);
analogWrite(11, speed);
}

void left_motor_a_ccw(int speed) {
digitalWrite(3, HIGH);
digitalWrite(15, LOW);
analogWrite(11, speed);
}

void left_motor_b_cw(int speed) {
digitalWrite(2, HIGH);
digitalWrite(7, LOW);
analogWrite(6, speed);
}

void left_motor_b_ccw(int speed) {
digitalWrite(7, HIGH);
digitalWrite(2, LOW);
analogWrite(6, speed);
}

void right_motor_a_cw(int speed) {
digitalWrite(5, HIGH);
digitalWrite(8, LOW);
analogWrite(10, speed);
}

void right_motor_a_ccw(int speed) {
digitalWrite(8, HIGH);
digitalWrite(5, LOW);
analogWrite(10, speed);
}

void right_motor_b_cw(int speed) {
digitalWrite(4, HIGH);
digitalWrite(14, LOW);
analogWrite(9, speed);
}

void right_motor_b_ccw(int speed) {
digitalWrite(14, HIGH);
digitalWrite(4, LOW);
analogWrite(9, speed);
}

void stop_all_motors() {
// L: 2,3,4,5,6,8,9,15
// H: 7,10,11,14
digitalWrite(2, LOW);
digitalWrite(3, LOW);
digitalWrite(4, LOW);
digitalWrite(5, LOW);
digitalWrite(7, LOW);
digitalWrite(8, LOW);
digitalWrite(14, LOW);
digitalWrite(15, LOW);

digitalWrite(6, HIGH);
digitalWrite(10, HIGH);
digitalWrite(11, HIGH);
digitalWrite(9, HIGH);
}

/*
//verzia testu 1

left_motor_a_cw();
left_motor_b_cw();
right_motor_a_cw();
right_motor_b_cw();
delay(2500);
stop_all_motors();
delay(2500);

left_motor_a_ccw(255);
left_motor_b_ccw();
right_motor_a_ccw();
right_motor_b_ccw();
delay(2500);
stop_all_motors();
delay(2500);

left_motor_a_cw();
left_motor_b_cw();
right_motor_a_ccw();
right_motor_b_ccw();
delay(2500);
stop_all_motors();
delay(2500);

left_motor_a_ccw(255);
left_motor_b_ccw();
right_motor_a_cw();
right_motor_b_cw();
delay(2500);
stop_all_motors();
delay(2500);

left_motor_a_ccw(255);
left_motor_b_ccw();
right_motor_a_ccw();
right_motor_b_cw();
delay(2500);
*/

// 0 toc vlavo
// 3 dopredu
// 6 vlavo
// 9 vpravo
// 12 dozadu
// 15 toc vpravo

void otocka_vlavo(int speed)
{
left_motor_a_ccw(speed);
left_motor_b_ccw(speed);
right_motor_a_ccw(speed);
right_motor_b_ccw(speed);
}

void otocka_vpravo(int speed)
{
left_motor_a_cw(speed);
left_motor_b_cw(speed);
right_motor_a_cw(speed);
right_motor_b_cw(speed);
}

void sikmo_vpravo(int speed1, int speed2)
{
left_motor_a_cw(speed1);
left_motor_b_ccw(speed2);
right_motor_a_ccw(speed1);
right_motor_b_cw(speed2);
}

//sikma vpravo

void sikmo_uhol_vpravo(int angle, int speed)
{
if (angle < 45)
{
int s2 = round(speed * tan((45 - angle) / 180.0 * M_PI));
left_motor_a_cw(speed);
left_motor_b_cw(s2);
right_motor_a_cw(speed);
right_motor_b_cw(s2);
}
else if (angle < 90)
{
int s2 = round(speed * tan((angle - 45) / 180.0 * M_PI));
left_motor_a_cw(speed);
left_motor_b_ccw(s2);
right_motor_a_ccw(speed);
right_motor_b_cw(s2);
}
else if (angle < 135)
{
int s2 = round(speed * tan((angle- 45) / 180.0 * M_PI));
left_motor_a_cw(s2);
left_motor_b_ccw(speed);
right_motor_a_ccw(s2);
right_motor_b_cw(speed);
}
else
{
int s2 = round(speed * tan((angle - 135) / 180.0 * M_PI));
left_motor_a_ccw(s2);
left_motor_b_ccw(speed);
right_motor_a_ccw(s2);
right_motor_b_ccw(speed);
}

}

//sikma vlavo

void sikmo_uhol_vlavo(int angle, int speed)
{
if (angle < 45)
{
int s2 = round(speed * tan((45 - angle) / 180.0 * M_PI));
left_motor_b_cw(speed);
left_motor_a_cw(s2);
right_motor_b_cw(speed);
right_motor_a_cw(s2);
}
else if (angle < 90)
{
int s2 = round(speed * tan((angle - 45) / 180.0 * M_PI));
left_motor_b_cw(speed);
left_motor_a_ccw(s2);
right_motor_b_ccw(speed);
right_motor_a_cw(s2);
}
else if (angle < 135)
{
int s2 = round(speed * tan((angle- 45) / 180.0 * M_PI));
left_motor_b_cw(s2);
left_motor_a_ccw(speed);
right_motor_b_ccw(s2);
right_motor_a_cw(speed);
}
else
{
int s2 = round(speed * tan((angle - 135) / 180.0 * M_PI));
left_motor_b_ccw(s2);
left_motor_a_ccw(speed);
right_motor_b_ccw(s2);
right_motor_a_ccw(speed);
}

}

//otocka pokus

void pokus(int speed)
{
for (int a = 0; a < 180; a = a + 20)
{
farba(pixels.Color(a * 7 / 5, 0, 255 - a * 7 / 5));
sikmo_uhol_vpravo(a, speed);
delay(3000);
stop_all_motors();
delay(3000);

}
for (int a = 180; a > 0; a = a - 20)
{
farba(pixels.Color(255 - a * 7 / 5, 0, a * 7 / 5));
sikmo_uhol_vlavo(a, speed);
delay(3000);
stop_all_motors();
delay(3000);

}
stop_all_motors();
}

void vzad(int speed)
{
left_motor_a_ccw(speed);
left_motor_b_ccw(speed);
right_motor_a_cw(speed);
right_motor_b_cw(speed);
}

void vpred(int speed)
{
left_motor_a_cw(speed);
left_motor_b_cw(speed);
right_motor_a_ccw(speed);
right_motor_b_ccw(speed);
}

void vpravo(int speed)
{
left_motor_a_ccw(speed);
left_motor_b_cw(speed);
right_motor_a_cw(speed);
right_motor_b_ccw(speed);
}

void vlavo(int speed)
{
left_motor_a_cw(speed);
left_motor_b_ccw(speed);
right_motor_a_ccw(speed);
right_motor_b_cw(speed);
}

void loop() {

pokus(220);

//experiment 1

sikmo_vpravo(255, 110);
delay(3000);
stop_all_motors();
delay(1000);

return;

for (int s = 127; s < 256; s += 32)
{
//vzad
vzad(s);
delay(1000);
stop_all_motors();
delay(1000);

//vpred
vpred(s);
delay(1000);
stop_all_motors();
delay(1000);

//otocka vlavo
otocka_vlavo(s);
delay(1000);
stop_all_motors();
delay(1000);

//otocka vpravo
otocka_vpravo(s);
delay(1000);
stop_all_motors();
delay(1000);

//vlavo
vlavo(s);
delay(1000);
stop_all_motors();
delay(1000);

//vpravo
vpravo(s);
delay(1000);
stop_all_motors();
delay(1000);
}
}

/*

//verzia testu 2

for (int i = 0; i < 16; i++) {
if (i & 1) left_motor_a_cw();
else left_motor_a_ccw(255);
if (i & 2) left_motor_b_cw();
else left_motor_b_ccw();
if (i & 4) right_motor_a_cw();
else right_motor_a_ccw();
if (i & 8) right_motor_b_cw();
else right_motor_b_ccw();
delay(2500);
stop_all_motors();
delay(2500);

}

stop_all_motors();
delay(5000);
}

*/

</syntaxhighlight>

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