Hello, I have some problems to make the code, I wanted to implement a “switch case” but I do not know how to do it, I previously did the code with “if” and “else if” but it was very ugly. If someone can help me I would appreciate it very much.
(I feel my lack of level at the time of writing code).
/*PRUEBA UNO PARA EL PROYECTO DE CLASE
ROBOT SEGUIDOR DE LINEA SIN VELOCIDAD
VARIABLE, SALIDA PWM*/
//--------------declarar motores.--------------
const int MupIz = //pin;
const int MupDer = //pin;
const int MdownIz = //pin;
const int MdownDer = //pin;
//salida PWM del controlador H, A es izquierda y B es derecha.
const int pinENA = //pin;
const int pinENB = //pin;
//--------------declarar sensores.--------------
// IR5 IR4 IR3(0) IR2 IR1 (sensor mirandote)
const int IR5 = //pin;
const int IR4 = //pin;
const int Sensor0 = //pin;
const int IR2 = //pin;
const int IR1 = //pin;
int umbral = 520;
int vel1 = 90; //velocidad del motor inicial??
const int VelNula = 0; //velocidad 0
int VelR = 40; //provicional para la marcha atras.
//------------defino los estados de los sensores---------
int IR5State;
int IR4State;
int Sensor0State;
int IR2State;
int IR1State;
//-------------------------------------------------
void setup(){
pinMode (MupIz, OUTPUT);
pinMode (MupDer, OUTPUT);
pinMode (MdownIz, OUTPUT);
pinMode (MupDer, OUTPUT);
pinMode (pinENA, OUTPUT);
pinMode (pinENB, OUTPUT);
Serial.begin (9600);
pinMode(IR5, INPUT);
pinMode(IR4, INPUT);
pinMode(Sensor0, INPUT);
pinMode(IR2, INPUT);
pinMode(IR1, INPUT);
}
void hacia_delante(){
MupIz(Vel1);
MupDer(Vel1);
MdownIz (VelNula);
MdownDer (VelNula);
analogWrite(pinENA, 255);
analogWrite(pinENB, 255);
}
void giro_derecha(){
MupIz(Vel1);
MupDer(VelNula);
MdownIz (VelR);
MdownDer (VelNula);
//prueba 2! freno motor izquiero y solo activo el derecho.
/*MupIz(VelNula);
MupDer(Vel1;
MdownIz (VelNula);
MdownDer (VelNula);*/
}
void giro_izquierda(){
MupIz(VelNula);
MupDer(Vel1);
MdownIz (VelR);
MdownDer (VelNula);
//prueba 2! freno motor izquiero y solo activo el derecho.
/*MupIz(Vel1);
MupDer(VelNula);
MdownIz (VelNula);
MdownDer (VelNula);*/
}
void loop(){
//--------------------------------Prueba funcionamiento de los sensores.--------------------------------
//Leo el estado de los sensores.
IR5State = digitalRead(IR5);
IR4State = digitalRead(IR4);
Sensor0State = digitalRead(Sensor0);
IR2State = digitalRead(IR2);
IR1State = digitalRead(IR1);
//muestro si detectan la linea negra o no.
if(IR5State==HIGH){Serial.print("||black = IR5||"); Serial.print("");}
else{Serial.print("||white = IR5||"); Serial.print("");}
if(IR4State==HIGH){Serial.print("||black = IR4||"); Serial.print("");}
else{Serial.print("||white = IR4||"); Serial.print("");}
if(Sensor0State==HIGH){Serial.print("||black = IR3(0)||"); Serial.print("");}
else{Serial.print("||white = IR3(0)||"); Serial.print("");}
if(IR2State==HIGH){Serial.print("||black = IR2||"); Serial.print("");}
else{Serial.print("||white = IR2||"); Serial.print("");}
if(IR1State==HIGH){Serial.print("||black = IR1||"); Serial.print("");}
else{Serial.print("||white = IR1||"); Serial.print("");}
Serial.println("*********************************");
delay(500);
//---------------------------------------------------------------------------------------------------------
//--------------------------------Funcionamiento del coche--------------------------------
// IR5 IR4 IR3(0) IR2 IR1 (sensor mirandote)
//motor va en linea reca cuando los tres sensores del medio pasan por la linea negra.
/* if(IR5State<umbral && IR4State<umbral && Sensor0State>umbral && IR2State<umbral && IR1State<umbral){ //va recto.
// 0 0 1 0 0
hacia_delante();
}
}*/
What I do not know exactly is how to make the “switch case”, for example, turn the robot to the left. Before with the “if” I did this:
else if(IR5State<umbral && IR4State>umbral && Sensor0State>umbral && IR2State<umbral && IR1State<umbral || IR5State>umbral && IR4State>umbral && Sensor0State>umbral && IR2State<umbral && IR1State<umbral){ //gira a la izquierda*/
//prueba! giro up motor izquierdo down derecho en plan giro horario pero con ditinta velocidad.
MupIz(VelNula);
MupDer(Vel1);
MdownIz (VelR);
MdownDer (VelNula);
//prueba 2! freno motor izquiero y solo activo el derecho.
/*MupIz(Vel1);
MupDer(VelNula);
MdownIz (VelNula);
MdownDer (VelNula);*/
I wanted to implement a "switch case" but I do not know how to do it
switch/case works by testing the value of a single integer variable to determine which code block to execute.
Which variable do you want to use in the switch/case ? You seem to be testing 5 variables and you cannot do this with a single switch/case. You could do it with 5 switch/cases but what would be the advantage ?
