초음파센서를이용해서 자동쓰레기통을 구현하는중에 질문이있습니다. 초음파로 거리에따라 휴지통이 자동으로 열렸다가 닫혔다가 하는것을 구현하는중인데요,

모터가 다가가면 시계방향(open)으로가다가 멀어지면 다시반시계방향(close)으로 도는것까지는구현을 했는데

반시계방향으로 돌다가멈추게는할수 없을까요???? 멈추지않으면 쓰레기통에연결되어있는 낚시줄이 계속감기게되어 끊어 짐니다. 아래소스입니다.

int motorPin1 = 11; // INA

int motorPin2 = 4; // INB

int motorPin3 = 2; // INC

int motorPin4 = 3; // IND

const int trigPin = 13;

const int echoPin = 12;

const int ledPin = 10;

unsigned int gun_countStep = 0;

unsigned int gun_direction = 0;

int motorSpeed = 3;

void setup() {

//declare the motor pins as outputs

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

pinMode(ledPin, OUTPUT);

pinMode(motorPin1, OUTPUT);

pinMode(motorPin2, OUTPUT);

pinMode(motorPin3, OUTPUT);

pinMode(motorPin4, OUTPUT);

Serial.begin(9600);

}

void loop() {

int duration, distance;

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance = duration / 58;

if(distance > 100 || distance < 0)

Serial.println("Out of range");

else {

Serial.print(distance);

Serial.println(" cm");

}

if (distance <= 10)

digitalWrite(ledPin, HIGH);

else

digitalWrite(ledPin, LOW);

if(distance < 10) {

if(gun_direction == 0){

clockwise_2PhaseExcitation(); // 시계 방향

}

else {

counterclockwise_2PhaseExcitation();

}

}

}

void counterclockwise_2PhaseExcitation(){ // 반 시계 방향

// 1

digitalWrite(motorPin4, HIGH);

digitalWrite(motorPin3, HIGH);

digitalWrite(motorPin2, LOW);

digitalWrite(motorPin1, LOW);

delay (motorSpeed);

// 2

digitalWrite(motorPin4, LOW);

digitalWrite(motorPin3, HIGH);

digitalWrite(motorPin2, HIGH);

digitalWrite(motorPin1, LOW);

delay(motorSpeed);

// 3

digitalWrite(motorPin4, LOW);

digitalWrite(motorPin3, LOW);

digitalWrite(motorPin2, HIGH);

digitalWrite(motorPin1, HIGH);

delay (motorSpeed);

// 4

digitalWrite(motorPin4, HIGH);

digitalWrite(motorPin3, LOW);

digitalWrite(motorPin2, LOW);

digitalWrite(motorPin1, HIGH);

delay(motorSpeed);

}

void clockwise_2PhaseExcitation(){ // 시계 방향

// 1

digitalWrite(motorPin1, HIGH);

digitalWrite(motorPin2, HIGH);

digitalWrite(motorPin3, LOW);

digitalWrite(motorPin4, LOW);

delay (motorSpeed);

// 2

digitalWrite(motorPin1, LOW);

digitalWrite(motorPin2, HIGH);

digitalWrite(motorPin3, HIGH);

digitalWrite(motorPin4, LOW);

delay(motorSpeed);

// 3

digitalWrite(motorPin1, LOW);

digitalWrite(motorPin2, LOW);

digitalWrite(motorPin3, HIGH);

digitalWrite(motorPin4, HIGH);

delay (motorSpeed);

// 4

digitalWrite(motorPin1, HIGH);

digitalWrite(motorPin2, LOW);

digitalWrite(motorPin3, LOW);

digitalWrite(motorPin4, HIGH);

delay(motorSpeed);

}