完整代码和小结（狗子V）

 

#include   <SoftwareSerial.h>
#include <Servo.h>

Servo S1;
Servo S2;
int pos = 90;
int i;

SoftwareSerial BTSerial(8, 9);                                        // RX | TX
int STBY = 2;                                                          //standby

/*Motor*/
int PWMA = 10;                                                      //Speed control
int AIN1 = 11;                                                     //Direction0
int AIN2 = 12;                                                    //Direction

int val = 0;


void setup()
{
  pinMode(STBY, OUTPUT);

  pinMode(PWMA, OUTPUT);
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);


  Serial.begin(9600);
  BTSerial.begin(38400);
  BTSerial.println("Dog2 is ready");

  S1.attach(5);
  S2.attach(6);
}


void move(int motor, int speed, int direction) {

  digitalWrite(STBY, HIGH);                                           

  boolean inPin1 = LOW;
  boolean inPin2 = HIGH;

  if (direction == 1) {
    inPin1 = HIGH;
    inPin2 = LOW;
  }

  if (motor == 1) {
    digitalWrite(AIN1, inPin1);
    digitalWrite(AIN2, inPin2);
    analogWrite(PWMA, speed);
  }
}

void SerCatch()
{
  for (pos = 90; pos >= 43 ; pos--) {      
    // in steps of 1 degree
    S1.write(pos);                               
    S2.write(180 - pos);
    delay(15);                                    
  }
}

void Serrelease()
{
  for (pos = 45; pos <= 135; pos++) {     
    // in steps of 1 degree
    S1.write(pos);                              
    S2.write(180 - pos);
    delay(15);                                    
  }
}


void loop()
{
  if (BTSerial.available()) {
    val = BTSerial.read();

    switch (val) {
      case 'a' : {
          move(1, 255, 1);
          BTSerial.write("Dog2 is lifting");
        } break;                                              
      case 'b' : {
          move(1, 255, 2);
          BTSerial.write("Dog2 is lowering");
        } break;                                           
      case 'c' : {
          move(1, 0, 2);
          BTSerial.write(" Dog2 stops");
        } break;
      case 'd' : {
          SerCatch();
          BTSerial.write("Dog2 up");
        } break;
      case 'e' : {
          Serrelease();
          BTSerial.write("Dog2 down");
        } break;
      default: BTSerial.write(val); break;
    }
  }
}

                                                                                                                                                      ——2018.9.8  于寝室327