int outputstyr1 = 12; int outputstyr2 = 11; int hastighed = 5; int styrkraft = 6; int outputfrem1 = 10; int outputfrem2 = 9; const int left = 8; const int center = 7; const int right = 2; void setup() { Serial.begin(9600); pinMode(outputstyr1, OUTPUT); pinMode(outputstyr2, OUTPUT); pinMode(hastighed, OUTPUT); pinMode(outputfrem1, OUTPUT); pinMode(outputfrem2, OUTPUT); pinMode(left,INPUT); pinMode(center,INPUT); pinMode(right,INPUT); } void loop() { int leftv = digitalRead(left); int centerv = digitalRead(center); int rightv = digitalRead(right); if((centerv==0) && (leftv==1) && (rightv==0)) { Serial.println("DRIVE FORWARD"); digitalWrite(outputfrem1, LOW); digitalWrite(outputfrem2, HIGH); digitalWrite(outputstyr2, LOW); digitalWrite(outputstyr1, LOW); analogWrite(styrkraft, 0); analogWrite(hastighed, 150); } if((centerv==1) && (leftv==0)) { Serial.println("DRIVE right"); digitalWrite(outputfrem1, LOW); digitalWrite(outputfrem2, HIGH); digitalWrite(outputstyr2, LOW); digitalWrite(outputstyr1, HIGH); analogWrite(styrkraft, 255); analogWrite(hastighed, 150); } if((centerv==1) && (rightv==0)) { Serial.println("DRIVE LEFT"); digitalWrite(outputfrem1, LOW); digitalWrite(outputfrem2, HIGH); digitalWrite(outputstyr2, HIGH); digitalWrite(outputstyr1, LOW); analogWrite(styrkraft, 255); analogWrite(hastighed, 150); } if((centerv==leftv) && (rightv==leftv)) { Serial.println("all same STOP"); digitalWrite(outputfrem1, LOW); digitalWrite(outputfrem2, LOW); digitalWrite(outputstyr2, LOW); digitalWrite(outputstyr1, LOW); analogWrite(styrkraft, 0); analogWrite(hastighed, 0); } else { Serial.println("else STOP"); digitalWrite(outputfrem1, LOW); digitalWrite(outputfrem2, LOW); digitalWrite(outputstyr2, LOW); digitalWrite(outputstyr1, LOW); analogWrite(styrkraft, 0); analogWrite(hastighed, 0); } }