1 // I/O引脚定义
  2 #define PUL 2         //电机时钟
  3 #define L_ENA 3     //A电机使能
  4 #define L_DIR 4     //A电机转向
  5 #define L_key 5        //A电机复位按键(0)
  6 #define R_ENA 6        //B电机使能
  7 #define R_DIR 7        //B电机转向
  8 #define R_key 8        //B电机复位按键(1)
  9 #define Rain A0        //雨水
 10 
 11 //宏定义
 12 bool Clock_status = 0;
 13 
 14 void set_init_pinMode(){
 15     pinMode(PUL,OUTPUT);        //时钟
 16     pinMode(L_ENA,OUTPUT);        //L
 17     pinMode(L_DIR,OUTPUT);
 18     pinMode(L_key,INPUT);
 19     pinMode(R_ENA,OUTPUT);        //R
 20     pinMode(R_DIR,OUTPUT);
 21     pinMode(R_key,INPUT);
 22     pinMode(Rain,INPUT);        //雨水
 23 }
 24 /*************************************/
 25 //时钟函数
 26 void Clock_function(void){
 27     delayMicroseconds(10000);                 //时钟
 28     digitalWrite(PUL,Clock_status);
 29     Clock_status = !Clock_status;
 30 }
 31 /***********************************/
 32 //电机使能关闭
 33 void Close_motor(void){
 34     digitalWrite(L_ENA,1);
 35     digitalWrite(R_ENA,1);
 36 }
 37 //电机使能开启
 38 void start_motor(void){
 39     digitalWrite(L_ENA,0);
 40     digitalWrite(R_ENA,0);
 41 }
 42 /**********************************/
 43 //拉回方向
 44 void Pull_direction(){
 45     digitalWrite(L_DIR,0);
 46     digitalWrite(R_DIR,0);
 47 }
 48 //推出方向
 49 void Push_direction(){
 50     digitalWrite(L_DIR,1);
 51     digitalWrite(R_DIR,1);                                                                                                                                                                                                                                                                                                                                                                                                              
 52 }
 53 /********************************/
 54 //拉回电机
 55 void Pull_motor(){
 56     start_motor();            //开启电机
 57     Pull_direction();        //拉回电机凤方向设置
 58 }
 59 //推出电机
 60 void Push_motor(){
 61     start_motor();            //开启电机
 62     Push_direction();        //拉回电机凤方向设置
 63 }
 64 //无检验停止
 65 void No_test_stop_motor(){
 66     Close_motor();            //关闭使能
 67 }
 68 //检验停止
 69 void test_stop_motor(int key1,int key2){
 70     if(key1)digitalWrite(L_ENA,1);
 71     else digitalWrite(L_ENA,0);
 72     if(key2)digitalWrite(R_ENA,1);
 73     else digitalWrite(L_ENA,0);
 74 }
 75 /********************************/
 76 void printf_all(int mode,unsigned int step1){
 77     Serial.print("mode =");
 78     Serial.print(mode);
 79     Serial.print("  ");
 80     Serial.print("PUL =");
 81     Serial.print(digitalRead(PUL));
 82     Serial.print("  ");
 83     Serial.print("L_DIR =");
 84     Serial.print(digitalRead(L_DIR));
 85     Serial.print("  ");
 86     Serial.print("L_ENA =");
 87     Serial.print(digitalRead(L_ENA));
 88     Serial.print("  ");
 89     Serial.print("L_key =");
 90     Serial.print(digitalRead(L_key));
 91     Serial.print("  ");
 92     Serial.print("R_DIR =");
 93     Serial.print(digitalRead(R_DIR));
 94     Serial.print("  ");
 95     Serial.print("R_ENA =");
 96     Serial.print(digitalRead(R_ENA));
 97     Serial.print("  ");
 98     Serial.print("R_key =");
 99     Serial.print(digitalRead(R_key));
100     Serial.print("  ");
101     Serial.print("Rain =");
102     Serial.print(analogRead(Rain));
103     Serial.print("  ");
104     Serial.print("step1 =");
105     Serial.println(step1);
106 }
107 //初始化
108 void setup(){
109     set_init_pinMode();
110     Serial.begin(19200); 
111     Serial.println("DHTxx test!");
112 }
113 void loop(){
114     int mode = 0;        //模式
115     int a,b;
116     unsigned int step1 = 0;
117     while(1){
118         switch(mode){
119         case 0:{        //拉回电机
120             Pull_motor();
121             mode = 1;
122             }break;
123         case 1:{        //检测状态
124             a = digitalRead(L_key);
125             b = digitalRead(R_key);
126             digitalWrite(L_ENA,a);
127             digitalWrite(R_ENA,b-1);
128             step1--;
129             if((1==a)&&(0==b)&&(analogRead(Rain) > 850)){
130                 mode = 2;
131                 step1 = 0;
132                 Push_motor();
133                 }
134             }break;
135         case 2:{        //雨板检测
136             if(analogRead(Rain) < 850)mode = 0;
137             else if(7000 < step1++){
138                 Close_motor();
139                 step1 = 65000;
140                 }
141             }break;
142         }
143     //printf_all(mode,step1);
144     Clock_function();
145     }
146 }