Программирую Arduino на заказ (Беcплатно). ("Умный дом" не предлагать)

// Motor A
int enA = 9;
int in1 = 8;
int in2 = 7;
// Motor B
int enB = 3;
int in3 = 5;
int in4 = 4;
// Joystick Input
int joyVert = A0; // Vertical  
int joyHorz = A1; // Horizontal
// Motor Speed Values - Start at zero
int MotorSpeed1 = 0;
int MotorSpeed2 = 0;
// Joystick Values - Start at 512 (middle position)
int joyposVert = 512;
int joyposHorz = 512;  
void setup()
{
 // Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
 pinMode(enB, OUTPUT);
 pinMode(in1, OUTPUT);
 pinMode(in2, OUTPUT);
 pinMode(in3, OUTPUT);
 pinMode(in4, OUTPUT);

 // Start with motors disabled and direction forward

 // Motor A

 digitalWrite(enA, LOW);
 digitalWrite(in1, HIGH);
 digitalWrite(in2, LOW);

 // Motor B

 digitalWrite(enB, LOW);
 digitalWrite(in3, HIGH);
 digitalWrite(in4, LOW);
}

void loop() {

// Read the Joystick X and Y positions
joyposVert = analogRead(joyVert);
joyposHorz = analogRead(joyHorz);

// Determine if this is a forward or backward motion
// Do this by reading the Verticle Value
// Apply results to MotorSpeed and to Direction

if (joyposVert < 460)
{

// This is Backward
// Set Motor A backward

digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);

// Set Motor B backward

digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);

//Determine Motor Speeds
// As we are going backwards we need to reverse readings

joyposVert = joyposVert - 460; // This produces a negative number
joyposVert = joyposVert * -1;  // Make the number positive

MotorSpeed1 = map(joyposVert, 0, 460, 0, 255);
MotorSpeed2 = map(joyposVert, 0, 460, 0, 255);

}

else if (joyposVert > 564)

{
// This is Forward
// Set Motor A forward

digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);

// Set Motor B forward

digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);

//Determine Motor Speeds

MotorSpeed1 = map(joyposVert, 564, 1023, 0, 255);
MotorSpeed2 = map(joyposVert, 564, 1023, 0, 255);

}

else
{

// This is Stopped

MotorSpeed1 = 0;
MotorSpeed2 = 0;

}

// Now do the steering
// The Horizontal position will "weigh" the motor speed
// Values for each motor

if (joyposHorz < 460)

{

// Move Left
// As we are going left we need to reverse readings

joyposHorz = joyposHorz - 460; // This produces a negative number
joyposHorz = joyposHorz * -1;  // Make the number positive

// Map the number to a value of 255 maximum

joyposHorz = map(joyposHorz, 0, 460, 0, 255);
MotorSpeed1 = MotorSpeed1 - joyposHorz;
MotorSpeed2 = MotorSpeed2 + joyposHorz;

// Don't exceed range of 0-255 for motor speeds

if (MotorSpeed1 < 0)MotorSpeed1 = 0;
if (MotorSpeed2 > 255)MotorSpeed2 = 255;

}

else if (joyposHorz > 564)

{

// Move Right
// Map the number to a value of 255 maximum

joyposHorz = map(joyposHorz, 564, 1023, 0, 255);
MotorSpeed1 = MotorSpeed1 + joyposHorz;
MotorSpeed2 = MotorSpeed2 - joyposHorz;

// Don't exceed range of 0-255 for motor speeds

if (MotorSpeed1 > 255)MotorSpeed1 = 255;
if (MotorSpeed2 < 0)MotorSpeed2 = 0;  

}

// Adjust to prevent "buzzing" at very low speed

if (MotorSpeed1 < 8)MotorSpeed1 = 0;
if (MotorSpeed2 < 8)MotorSpeed2 = 0;

// Set the motor speeds

analogWrite(enA, MotorSpeed1);
analogWrite(enB, MotorSpeed2);


}

// Motor A

int enA = 9;
int in1 = 8;
int in2 = 7;

// Motor B

int enB = 3;
int in3 = 5;
int in4 = 4;

// Joystick Input

int joyVert = A0; // Vertical  
int joyHorz = A1; // Horizontal

// Motor Speed Values - Start at zero

int MotorSpeed1 = 0;
int MotorSpeed2 = 0;

// Joystick Values - Start at 512 (middle position)

int joyposVert = 512;
int joyposHorz = 512;
int LED = 10; // Контакт 10 для подключения светодиода
int BUTTON = 2; // Контакт 2 для подключения кнопки
int tekButton = LOW; // Переменная для сохранения текущего состояния кнопки
int prevButton = LOW; // Переменная для сохранения предыдущего состояния к нопки

boolean ledOn = false; // Текущее состояние светодиода (включен/выключен)

void setup()
{
// Сконфигурировать контакт светодиода как выход

pinMode (LED, OUTPUT);

// Сконфигурировать контакт кнопки как вход

pinMode (BUTTON, INPUT_PULLUP);

// Set all the motor control pins to outputs

 pinMode(enA, OUTPUT);
 pinMode(enB, OUTPUT);
 pinMode(in1, OUTPUT);
 pinMode(in2, OUTPUT);
 pinMode(in3, OUTPUT);
 pinMode(in4, OUTPUT);

// Start with motors disabled and direction forward
// Motor A
 
 digitalWrite(enA, LOW);
 digitalWrite(in1, HIGH);
 digitalWrite(in2, LOW);
 
// Motor B
 
 digitalWrite(enB, LOW);
 digitalWrite(in3, HIGH);
 digitalWrite(in4, LOW);
 }
 

void loop()
{
tekButton=digitalRead(BUTTON);
if (tekButton == LOW && prevButton == HIGH)
{
// нажатие кнопки – изменить состояние светодиода
ledOn=!ledOn;
digitalWrite(LED, ledOn);
}
prevButton=tekButton;

// Read the Joystick X and Y positions
{
joyposVert = analogRead(joyVert);
joyposHorz = analogRead(joyHorz);

// Determine if this is a forward or backward motion
// Do this by reading the Verticle Value
// Apply results to MotorSpeed and to Direction
}
 if (joyposVert < 460)
{
// This is Backward

// Set Motor A backward

digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);

// Set Motor B backward

digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);

//Determine Motor Speeds

// As we are going backwards we need to reverse readings

joyposVert = joyposVert - 460; // This produces a negative number
joyposVert = joyposVert * -1;  // Make the number positive

MotorSpeed1 = map(joyposVert, 0, 460, 0, 255);
MotorSpeed2 = map(joyposVert, 0, 460, 0, 255);

}
else if (joyposVert > 564)
{
// This is Forward

// Set Motor A forward

digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);

// Set Motor B forward

digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);

//Determine Motor Speeds

MotorSpeed1 = map(joyposVert, 564, 1023, 0, 255);
MotorSpeed2 = map(joyposVert, 564, 1023, 0, 255);

}
else
{
// This is Stopped

MotorSpeed1 = 0;
MotorSpeed2 = 0;

}

// Now do the steering
// The Horizontal position will "weigh" the motor speed
// Values for each motor
 
if (joyposHorz < 460)
{
// Move Left

// As we are going left we need to reverse readings

joyposHorz = joyposHorz - 460; // This produces a negative number
joyposHorz = joyposHorz * -1;  // Make the number positive

// Map the number to a value of 255 maximum

joyposHorz = map(joyposHorz, 0, 460, 0, 255);
 

MotorSpeed1 = MotorSpeed1 - joyposHorz;
MotorSpeed2 = MotorSpeed2 + joyposHorz;

// Don't exceed range of 0-255 for motor speeds

if (MotorSpeed1 < 0)MotorSpeed1 = 0;
if (MotorSpeed2 > 255)MotorSpeed2 = 255;

}
else if (joyposHorz > 564)
{
// Move Right

// Map the number to a value of 255 maximum

joyposHorz = map(joyposHorz, 564, 1023, 0, 255);
 

MotorSpeed1 = MotorSpeed1 + joyposHorz;
MotorSpeed2 = MotorSpeed2 - joyposHorz;

// Don't exceed range of 0-255 for motor speeds

if (MotorSpeed1 > 255)MotorSpeed1 = 255;
if (MotorSpeed2 < 0)MotorSpeed2 = 0;  

}

// Adjust to prevent "buzzing" at very low speed

if (MotorSpeed1 < 8)MotorSpeed1 = 0;
if (MotorSpeed2 < 8)MotorSpeed2 = 0;

// Set the motor speeds

analogWrite(enA, MotorSpeed1);
analogWrite(enB, MotorSpeed2);

}