Finalcode

// --------------------------------------------------------------------------// Example NewPing library sketch that does a ping about 20 times per second.
//
ALMOST AT COMPETITION
// --------------------------------------------------------------------------#include <math.h>
#include <NewPing.h>
#include <Servo.h> // Servo library disables 9 and 10
//ULTRASOUND
#define TRIGGER_PIN 12 // Arduino pin tied to trigger pin on the ultrasonic se
nsor.
#define ECHO_PIN
11 // Arduino pin tied to echo pin on the ultrasonic senso
r.
#define MAX_DISTANCE 200 // Maximum distance we want to ping for (in centimeters
). Maximum sensor distance is rated at 400-500cm.
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and
maximum distance.
// servo definitions
Servo myservo; // create servo object to control a servo
//servo angles for dumping, 0 is start position, 90 is dump position
int val1 = 0;
// variable to read the value from the analog pin
int val2 = 90;
//initialize servo state
int k = 1;
// Motor Setup with H-bridge
int L = 1;
int motorstate = L; // motor state initialization to spin left when scanning,
may change to optimize
int PrevIRsensor = 0;
int IRsensorValue = 5;
// Left Motor
const int dirPinL = 7; // Digital output pin that the "D" channel is attached t
o (controls motor Direction)
const int enablePinL = 6;
// Right Motor
const int dirPinR= 4; // Digital output pin that the "D" channel is attached to
(controls motor Direction)
const int enablePinR = 5;
int outputValue = 255; // Motor Speed 0 - 255 for both motors
int straight = 1;
float turn = 200.0;
float turn1 = 160.0;
int R = 2;
volatile
volatile
volatile
volatile
volatile
volatile
volatile
volatile
volatile
volatile
//making
int timep1 = 0;
int timep2 = 0;
unsigned long timer1rise1 =0;
unsigned long timer1rise2 =0;
int prev_time1=0;
int risecount1=0;
int timecycle1=0;
int prev_time2=0;
int risecount2=0;
int timecycle2=0;
arrays to store reading values for averaging
//IR attached to pin 2

const int StrengthnumReadings1=10;
const int FreqnumReadings1=10;
const int SightnumReadings1=10;
int strengthreadings1[StrengthnumReadings1];
int freqreadings1[FreqnumReadings1];
int sightreadings1[SightnumReadings1];
int strengthreadIndex1=0;
int freqreadIndex1=0;
int sightreadIndex1=0;
int totalstrength1=0;
int totalfreq1=0;
int totalsight1=0;
//
//Ir Attached to pin 3
const int StrengthnumReadings2=10;
const int FreqnumReadings2=10;
const int SightnumReadings2=10;
int strengthreadings2[StrengthnumReadings2];
int freqreadings2[FreqnumReadings2];
int sightreadings2[SightnumReadings2];
int strengthreadIndex2=0;
int freqreadIndex2=0;
int sightreadIndex2=0;
int totalstrength2=0;
int totalfreq2=0;
int totalsight2=0;
//
//ENCODER
volatile
volatile
volatile
volatile
INITIALIZATIONS
int lastEncoded1 =
int lastEncoded2 =
long encoderValue1
long encoderValue2
0;
0;
= 0;
= 0;
// Time keeping variables and Declarations

long previousMillis = 0;
unsigned long timer = 0;
int count = 0;
// keeps track of time (for switching
desired position)
int dt = 2;
// BUMP SENSOR/ LED
int BUMP = 13;
int BUMP2 = 8;
//Assign inital goal: Find the 1k hz
int goal = 1;
void setup() {
//Serial.begin(115200); // Open serial monitor at 115200 baud to see ping resu
lts.
myservo.attach(9); // servo signal attached to pin 9

pinMode(enablePinL, OUTPUT);
pinMode(dirPinL, OUTPUT);
//Right Motor
pinMode(enablePinR, OUTPUT);
pinMode(dirPinR, OUTPUT);
//IR
//IR PIN GOES TO PIN 2!! and we'll need to add another pin
// when pin D2 goes high, call the rising function
pinMode(2,INPUT);
pinMode(3,INPUT);
attachInterrupt(0, rising1, RISING);
pinMode(BUMP, INPUT);
pinMode(BUMP2, INPUT);
int s = 0;
InitialiseIO();
InitialiseInterrupt();
for(int thisReading=0; thisReading<StrengthnumReadings1;thisReading++){strengt
hreadings1[thisReading]=0;}
for(int thisReading=0; thisReading<FreqnumReadings1;thisReading++){freqreading
s1[thisReading]=0;}
for(int thisReading=0; thisReading<SightnumReadings1;thisReading++){sightreadi
ngs1[thisReading]=0;}
for(int thisReading=0; thisReading<StrengthnumReadings2;thisReading++){strengt
hreadings2[thisReading]=0;}
for(int thisReading=0; thisReading<FreqnumReadings2;thisReading++){freqreading
s2[thisReading]=0;}
for(int thisReading=0; thisReading<SightnumReadings2;thisReading++){sightreadi
ngs2[thisReading]=0;}
//sets every value in all array to zero.
//Identifies the goal for a particular stage: Find 5hz = 1, attack = 2, dump
= 3, reload(find 1 hz) = 4
delay(500); // let things set up correctly, then do work!!
}
void loop() {
//FreqID();
//Sight();
//int x = ultrasound();
timer = millis();
int a = FreqFinal1(Sight1(), averagepulselength1(),FreqID1());
// Serial.println(a);
if (timer < 120000){
if (goal == 1){Locate1kHZ();}
if (goal == 2){ATTACK();}
if (goal == 3){TakinDumps();}
if (goal == 4){Locate5kHZ();}
if (goal == 5){Reload();}
if (goal == 6){Spin();}
Reset();
// Serial.print("Last Freq: ");
// Serial.print(FreqFinal(Sight(),averagepulselength(), FreqID()));
// Serial.print("\t");
// Serial.print("Strength: ");
// Serial.print(averagepulselength());
// Serial.print("Sight: ");
// Serial.print(Sight());
//Serial.print("Goal: ");
//Serial.println(goal);
//Serial.print("\t");
//Serial.println(turn);
// Serial.println("Distance: ");
// Serial.println(ultrasound ());
}
else{
analogWrite(enablePinL, 0);
digitalWrite(dirPinL,HIGH);
analogWrite(enablePinR, 0);
digitalWrite(dirPinR,LOW);
}
//Serial.println(timer);
}
int ultrasound () {
delay(50);
// Wait 50ms between pings (about 20 pings/sec
). 29ms should be the shortest delay between pings.
unsigned int uS = sonar.ping(); // Send ping, get ping time in microseconds (u
S).
//Serial.print("Ping: ");
//Serial.print(uS / US_ROUNDTRIP_CM); // Convert ping time to distance and pri
nt result (0 = outside set distance range, no ping echo)
//Serial.println("cm");
if (uS / US_ROUNDTRIP_CM < 8 && uS/ US_ROUNDTRIP_CM > 0){ // dump chips when d
istance at 8 cm
k = 0;
}
else {
k = 1;
}
//Serial.println(k);
return (uS / US_ROUNDTRIP_CM);
}
int TakinDumps(){
// if (k == 0)
// {
myservo.write(val1);
// sets the servo position according t
o the scaled value
delay(1000);// waits for the servo to get there
myservo.write(val2);
//BACK UP AFTER DUMPING
digitalWrite(dirPinL,LOW);
digitalWrite(dirPinR,HIGH);
delay(1200);
k = 1;
goal = 4;
//}
//return(k);
return(goal);
}
//Locate 1 kHZ signals
int Locate1kHZ(){ //This function is used to find the 1 Khz signal
//first ir
static int sprev1 = 2; // initialization for reading previous strength
static int s1 = 0;
sprev1 = s1;
static int F1 = 100;
static int Fprev1 = 100;
static int turnfor1=100;
Fprev1 = F1;
F1 = abs(FreqFinal1(Sight1(),averagepulselength1(), FreqID1()));
s1 = abs(Sight1());
//second ir
static int s2 = 0;
sprev2 = s2;
Fprev2 = F2;
s2 = abs(Sight2());
// switch states of direction
if(((sprev1 - s1 > 0)||(sprev2-s2>0)) && (motorstate == R || motorstate == 0 )
&& (Fprev1 == 1||Fprev2 ==1)) {
motorstate = L;}
else if(((sprev1 - s1 > 0)||(sprev2-s2>0)) && (motorstate == L || motorstate ==
0 ) && (Fprev1 == 1||Fprev2 ==1)){
motorstate = R;
}
if((int)(1.1-(Sight1()+Sight2())/2)*turn<150){
turnfor1=150;
}
else if((int)(1-(Sight1()+Sight2())/2)*turn>200){
turnfor1=200;
}
else if((int)(1-(Sight1()+Sight2())/2)*turn>150 && ((int)(1-(Sight1()+Sight2())
/2)*turn<200)){
turnfor1=((int)(1-(Sight1()+Sight2())/2)*turn1);
}
if((F1 != 1 && F2 != 1) && motorstate == R) { //no sight, try to find sight by
turning right
analogWrite(enablePinL,turn);
analogWrite(enablePinR,turn);
}
else if((F1 != 1 && F2 != 1) && motorstate == L){ //no sight, try to find sigh
t by turning right
analogWrite(enablePinL,turn);
analogWrite(enablePinR,turn);
}
else if ((s1 < 1 || s2 <1) && (F2 == 1 || F1 ==1) && motorstate == R){
analogWrite(enablePinR, (turnfor1));
analogWrite(enablePinL, (turnfor1));
}
else if ((s1 < 1 || s2<1) && (F2 == 1 || F1 == 1) && motorstate == L){
}
else if (F1== 1 || F2==1){ //sight achieved, now pinpoint by strength
goal = 2;
//motorstate = 0; // maybe also return motorstate?
return (goal);
//Now begin to move towards the signal source with a new function
}
}
//Drive towards 1Khz signal
int ATTACK(){ // move towards the signal until a threshold reached!
static int s;
static int F;
static int counter = 0;
static int x = 100; // intialize distance greater than 8
static int z = 0;
z = digitalRead(BUMP);
if (counter < 100){
x =0;
counter ++;}
else if (counter >= 100){
x = ultrasound();
//Serial.print("Distance: ");
// Serial.println(x);
counter = 0;
}
//Serial.println(counter);
s = abs(Sight1());
F = abs(FreqFinal1(Sight1(),averagepulselength1(), FreqID1()));
// int x = ultrasound();
if (x > 10 && F == 1 && goal == 2){//if the IR hasn't hit the rails yet, cont
inue moving forward (straight)
analogWrite(enablePinL, outputValue*straight);
analogWrite(enablePinR, outputValue*straight);
}
else if ( F != 1 ){ // if it has hit the rails, stop - may need to add code to
find the beacon again if it's lost, aka switch the goal state
//analogWrite(enablePinL, 0);
//digitalWrite(dirPinL,HIGH);
//analogWrite(enablePinR, 0);
//digitalWrite(dirPinR,LOW);
//Locate1kHZ();
goal = 1;
}
if( z == HIGH && F == 1){
goal = 3;
}
if (x<= 10 && x > 0 && F == 1 && goal == 2){ // && add encoder distance requir
ement here
int uc1 = ultrasound();
if ( (uc1 + uc2 + x)/3 <10 && F ==1 && goal ==2){
goal = 3;
}
}
// if (x == 0 && F == 1 && goal == 2){
//
//
//
if ( (uc5 + uc6 + x)/3 == 0 && F ==1 && goal ==2){
//
goal = 3;
//
}
// }
return(goal);
}
int Locate5kHZ(){ // essentially, this will be the same code as motorfollow IR,
but for 1 hz signal
static int s1 = 0;
sprev1 = s1;
Fprev1 = F1;
s1 = abs(Sight1());
//second ir
static int s2 = 0;
sprev2 = s2;
Fprev2 = F2;
s2 = abs(Sight2());
if( (( sprev1 - s1) > 0 ||(sprev2-s2)>0) && (motorstate == R || motorstate

== 0 ) && (Fprev1 == 5||Fprev2 ==5)) {
motorstate = L;}
else if((( sprev1 - s1) > 0 ||(sprev2-s2)>0) && (motorstate == L || motorstate
== 0 ) && (Fprev1 == 5||Fprev2 ==5)){
motorstate = R;
}
if((int)(1.1-(Sight1()+Sight2())/2)*turn<150){
turnfor5=150;
}
else if((int)(1-(Sight1()+Sight2())/2)*turn>200){
turnfor5=200;
}
else if((int)(1-(Sight1()+Sight2())/2)*turn>150 && ((int)(1-(Sight1()+Sight2())
/2)*turn<200)){
turnfor5=((int)(1-(Sight1()+Sight2())/2)*turn1);
}
if(( F1 == 0 || F1 == 1 ||F2==1||F2==0) && motorstate == R) { //no sight, try t
o find sight by turning right
analogWrite(enablePinR, (int)(turn1));
analogWrite(enablePinL, (int)(turn1));
}
else if( ( F1 == 0 || F1 == 1 ||F2==1||F2==0)&& motorstate == L){ //no sight,
try to find sight by turning right WHICH IS RIGHT?
analogWrite(enablePinR, (int)(turn1));
analogWrite(enablePinL, (int)(turn1));
}
else if (s1 < .8&& (F1 == 5 || F2==5) && motorstate == R){
}
else if (s1 < .8 && (F1 == 5 || F2==5) && motorstate == L){
}
else if (s1 >=.8 && (F1 == 5 || F2==5)){ //sight achieved, now pinpoint by stre
ngth, may need to implement timer to make sure threshold is acheived
//delay(100);
goal = 5; //switch goal back to attack!!!
//Now begin to move towards the signal source with a new function
}
return(goal);
}
int Reload(){ // move towards the signal until a threshold reached!
//need to test the threshold
static int s;
static int F;
static int counter1 = 0;
static int y = 100; // intialize distance greater than 8
static int zb = 0;
zb = digitalRead(BUMP2);
if (counter1 < 100){
y = 0;
counter1 ++;}
else if (counter1 >= 100){
y = ultrasound();
//Serial.println(x);
counter1 = 0;
//Serial.yprint("Distance: ");
//Serial.println(y);
}
s = abs(Sight1());
if (y > 15 && F == 5 && goal == 5){//if the IR hasn't hit the rails yet, contin
ue moving forward (straight)
analogWrite(enablePinL, outputValue*straight);
analogWrite(enablePinR, outputValue*straight);
}
else if (F != 5) { // if it has hit the rails, stop - may need to add code to
find the beacon again if it's lost, aka switch the goal state
//analogWrite(enablePinL, 0);
//digitalWrite(dirPinL,HIGH);
//analogWrite(enablePinR, 0);
//digitalWrite(dirPinR,LOW);
//Locate5kHZ();
goal = 4 ;
}
if ( y < 20 && y > 0 && F == 5 && goal == 5){ // && add encoder distance requi
rement here
if ( (uc3 + uc4 + y)/3 <20 && uc3 > 0 && uc4 > 0 && F ==5 && goal ==5){
goal = 6;
delay(1000);
delay(1000);
}
}
if( zb == HIGH && F == 5){

goal = 6;
delay(1000);
delay(1000);
}
return(goal);
}
int Spin(){
static int sprev = 2; // initialization for reading previous strength
static int s = 0;
sprev = s;
static int F = 100;
static int Fprev = 100;
Fprev = F;
static int counter = 0;
static int x = 100; // intialize distance greater than 8
if (counter < 100){
counter ++;}
else if (counter >= 100){
x = ultrasound();
//Serial.println(x);
counter = 0;
}
s = abs(Sight1());
if (x > 30 || x == 0){
goal = 1;
}
else{
if((sprev - s > 0) && (motorstate == R || motorstate == 0 ) && Fprev == 1) {
motorstate = L;}
else if((sprev - s > 0) && (motorstate == L || motorstate == 0) && Fprev == 1)
{
motorstate = R;
}
if((F != 1) && motorstate == R) { //no sight, try to find sight by turning righ
t
analogWrite(enablePinL, turn1);
analogWrite(enablePinR, turn1);
}
else if((F != 1) && motorstate == L){ //no sight, try to find sight by turning
right
analogWrite(enablePinL,turn1);
analogWrite(enablePinR, turn1);
}
}
// Serial.println(x);
return(goal);
}
//code to reset position, hopefully without changing the goals
void Reset(){
static int insight = 0; //check the stuff
static int F1A = 0;
static int F2A = 0;
static int F1B = 0;
static int F2B = 0;
static int timerReset = 0;
if (timerReset == 0){
timerReset++;
F1A = encoderValue1;
F2A = encoderValue2;
//digitalWrite(LED,LOW);
}
if (timerReset <= 1000){
F1B = encoderValue1;
F2B = encoderValue2;
timerReset++;
}
else if (timerReset > 1000 ){
if(F1A==F1B || F2A==F2B ){
analogWrite(enablePinL, outputValue-50);
analogWrite(enablePinR, outputValue-10);
//digitalWrite(LED,HIGH);
delay(1000);
analogWrite(enablePinL, outputValue);
analogWrite(enablePinR, outputValue);
delay(250);
}
timerReset = 0;
//LastencoderValue1 =0;
//LastencoderValue2 =0;
}
}
////IR CODE////////////
int FreqFinal1(float S, int Str, float F){
int a=0;
if (S>.3) {
if(4<F && F<6){
a=5;
}
else if(.5<F && F<1.2){
a=1;
}
}
return(a);
}
int FreqFinal2(float S, int Str, float F){
int a=0;
if (S>.3) {
if(4<F && F<6){
a=5;
}
else if(.5<F && F<1.2){
a=1;
}
}
return(a);
}
int averagepulselength1(){
//this just averages the "strength" over the past 10 intterupt samples
totalstrength1=totalstrength1-strengthreadings1[strengthreadIndex1];
strengthreadings1[strengthreadIndex1]=timep1;
totalstrength1=totalstrength1+strengthreadings1[strengthreadIndex1];
strengthreadIndex1=strengthreadIndex1+1;
// if we're at the end of the array...
if (strengthreadIndex1 >= StrengthnumReadings1) {
// ...wrap around to the beginning:
strengthreadIndex1 = 0;
}
// calculate the average:
int average1 = totalstrength1 / StrengthnumReadings1;
return (average1);
}
float FreqID1(){
totalfreq1=totalfreq1-freqreadings1[freqreadIndex1];
freqreadings1[freqreadIndex1]=timecycle1;
totalfreq1=totalfreq1+freqreadings1[freqreadIndex1];
freqreadIndex1=freqreadIndex1+1;
if (freqreadIndex1 >= FreqnumReadings1) {
freqreadIndex1 = 0;
}
float FREQaverage1=(1/((float).001*totalfreq1/(float)FreqnumReadings1));
return(FREQaverage1);
}
float Sight1(){
unsigned long timer1=millis();
int sight=0;
if ((timer1-timer1rise1)>20){
sight=0;
}
else{
sight=1;
}
totalsight1=totalsight1-sightreadings1[sightreadIndex1];
sightreadings1[sightreadIndex1]=sight;
totalsight1=totalsight1+sightreadings1[sightreadIndex1];
sightreadIndex1=sightreadIndex1+1;
if (sightreadIndex1 >= SightnumReadings1) {
sightreadIndex1 = 0;
}
float Sightaverage1=((float)totalsight1/(float)SightnumReadings1);
return(Sightaverage1);
}
///SECOND IR FUNCTION, ATTACHED TO PIN 3
int averagepulselength2(){
//this just averages the "strength" over the past 10 intterupt samples
totalstrength2=totalstrength2-strengthreadings2[strengthreadIndex2];
strengthreadings2[strengthreadIndex2]=timep2;
totalstrength2=totalstrength2+strengthreadings2[strengthreadIndex2];
strengthreadIndex2=strengthreadIndex2+1;
if (strengthreadIndex2 >= StrengthnumReadings2) {
strengthreadIndex2 = 0;
}
// calculate the average:
int average2 = totalstrength2 / StrengthnumReadings2;
return (average2);
}
float FreqID2(){
totalfreq2=totalfreq2-freqreadings2[freqreadIndex2];
freqreadings2[freqreadIndex2]=timecycle2;
totalfreq2=totalfreq2+freqreadings2[freqreadIndex2];
freqreadIndex2=freqreadIndex2+1;
if (freqreadIndex2 >= FreqnumReadings2) {
freqreadIndex2 = 0;
}
float FREQaverage2=(1/((float).001*totalfreq2/(float)FreqnumReadings2));
return(FREQaverage2);
}
float Sight2(){
unsigned long timer1=millis();
int sight=0;
if ((timer1-timer1rise2)>20){
sight=0;
}
else{
sight=1;
}
totalsight2=totalsight2-sightreadings2[sightreadIndex2];
sightreadings2[sightreadIndex2]=sight;
totalsight2=totalsight2+sightreadings2[sightreadIndex2];
sightreadIndex2=sightreadIndex2+1;
if (sightreadIndex2 >= SightnumReadings2) {
sightreadIndex2 = 0;
}
float Sightaverage2=((float)totalsight2/(float)SightnumReadings2);
return(Sightaverage2);
}
//interrupts(almost too much going on here already, should not get any bigger.
//IR attached to pin 3 INT
void rising2() {
if (risecount2==2){
timecycle2=micros()-prev_time2;
risecount2=0;
}
prev_time2=micros();
attachInterrupt(1, falling2, FALLING);
risecount2=risecount2+1;
timer1rise2=millis();
}
void falling2() {
timep2=abs(micros()-prev_time2);
}
//IR ATTACHED TO PIN 2 INT
void rising1() {
if (risecount1==2){
timecycle1=micros()-prev_time1;
risecount1=0;
}
prev_time1=micros();
attachInterrupt(0, falling1, FALLING);
risecount1=risecount1+1;
timer1rise1=millis();
}
void falling1() {
timep1=abs(micros()-prev_time1);
}
//ENCODER CODE
void InitialiseIO(){
pinMode(A0, INPUT);
// Pin A0 is input to which a switch is connected
digitalWrite(A0, HIGH); // Configure internal pull-up resistor
pinMode(A1, OUTPUT);
digitalWrite(A1, LOW); // Configure internal pull-up resistor

pinMode(A2, INPUT);
pinMode(A3, INPUT);
pinMode(A4, OUTPUT);
digitalWrite(A4, LOW); // Configure internal pull-up resistor
pinMode(A5, INPUT);
}
void InitialiseInterrupt(){
cli();
// switch interrupts off while messing with their settings
PCICR =0x02;
// Enable PCINT1 interrupt
PCMSK1 = 0b11111111;
sei();
// turn interrupts back on
}
ISR(PCINT1_vect) {
// Interrupt service routine. Every single PCINT8..14 (=AD
C0..5) change
// will generate an interrupt: but this will always be the same inte
rrupt routine
int MSB1 = digitalRead(A2); //MSB = most significant bit
int LSB1 = digitalRead(A0); //LSB = least significant bit
int encoded1 = (MSB1 << 1) |LSB1; //converting the 2 pin value to single numbe
r
int sum1 = (lastEncoded1 << 2) | encoded1;
d value
if(sum1 == 0b1101 || sum1 == 0b0100 || sum1
erValue1 ++;
if(sum1 == 0b1110 || sum1 == 0b0111 || sum1
erValue1 --;
lastEncoded1 = encoded1; //store this value
//adding it to the previous encode

== 0b0010 || sum1 == 0b1011) encod
== 0b0001 || sum1 == 0b1000) encod
for next time
//for the second encoder

int MSB2 = digitalRead(A5); //MSB = most significant bit
int LSB2 = digitalRead(A3); //LSB = least significant bit
int encoded2 = (MSB2 << 1) |LSB2; //converting the 2 pin value to single numbe
r
int sum2 = (lastEncoded2 << 2) | encoded2;
d value
if(sum2 == 0b1101 || sum2 == 0b0100 || sum2
erValue2 ++;
if(sum2 == 0b1110 || sum2 == 0b0111 || sum2
erValue2 --;
lastEncoded2 = encoded2; //store this value
}
//adding it to the previous encode

== 0b0010 || sum2 == 0b1011) encod
== 0b0001 || sum2 == 0b1000) encod
for next time

Finalcode

Enviado por

Dados do documento

Descrição original:

Título original

Direitos autorais

Formatos disponíveis

Compartilhar este documento

Compartilhar ou incorporar documento

Opções de compartilhamento

Você considera este documento útil?

Este conteúdo é inapropriado?

Direitos autorais:

Formatos disponíveis

Finalcode

Enviado por

Direitos autorais:

Formatos disponíveis

// --------------------------------------------------------------------------// Example NewPing library sketch that does a ping about 20 times per second.

//IR attached to pin 2

// Time keeping variables and Declarations

myservo.attach(9); // servo signal attached to pin 9

if( (( sprev1 - s1) > 0 ||(sprev2-s2)>0) && (motorstate == R || motorstate

if( zb == HIGH && F == 5){

digitalWrite(A1, LOW); // Configure internal pull-up resistor

//adding it to the previous encode

//for the second encoder

//adding it to the previous encode

Você também pode gostar