範例5

將程式改為

#include <IpoeA1.h>
IpoeMotor myMotor;  // 實體化馬達控制物件
int maxs=90;
int _ABVAR_1_dis = 0 ;
int ardublockUltrasonicSensorCodeAutoGeneratedReturnCM(int trigPin, int echoPin)
{
  long duration;
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(20);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  duration = duration / 59;
  if ((duration < 2) || (duration > 300)) return false;
  return duration;
}


void setup()
{
 myMotor.motor_init(); // 進行馬達及編碼器腳位的初始化動作
  digitalWrite( 36 , LOW );

  Serial.begin(9600);
}

void loop()
{
  _ABVAR_1_dis = ardublockUltrasonicSensorCodeAutoGeneratedReturnCM( 36 , 37 ) ;
  Serial.print("Dis=");
  Serial.print(_ABVAR_1_dis);
  Serial.println();
  if (_ABVAR_1_dis> 30)
  {
    myMotor.setSpeeds(maxs, maxs);
    delay(100);
  }
  else
  {
    myMotor.setSpeeds(-maxs, -maxs);
    delay(300);
    myMotor.setSpeeds(maxs, -maxs);
    delay(300);
  }
  delay( 100 );
}