Page 219 - MDP2022-3

servo.write(75);
digitalWrite(in1,1);
digitalWrite(in2,0);
digitalWrite(in3,1);

digitalWrite(in4,0);
analogWrite(ena, 100);
vTaskDelay(1);
analogWrite(enb, 50);

vTaskDelay(500);
break;
case 3://dc모터 좌회전
servo.write(75);
digitalWrite(in1,1);
digitalWrite(in2,0);

digitalWrite(in3,1);
digitalWrite(in4,0);
analogWrite(ena, 50);
vTaskDelay(1);
analogWrite(enb, 100);

vTaskDelay(500);
break;
case 4:// dc모터 정지
if(stp!=1){
servo.write(75);

}
digitalWrite(in1,1);
digitalWrite(in2,1);
digitalWrite(in3,1);
digitalWrite(in4,1);

analogWrite(ena, 0);
analogWrite(enb, 0);
break;

}

}
}