{"id":34,"date":"2019-04-23T20:38:00","date_gmt":"2019-04-23T20:38:00","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=34"},"modified":"2020-11-15T10:49:52","modified_gmt":"2020-11-15T10:49:52","slug":"tankduino-tu-primer-tanque-controlado","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/tankduino-tu-primer-tanque-controlado\/","title":{"rendered":"Tankduino &#8211; tu primer tanque controlado desde tu smartphone"},"content":{"rendered":"<h2 style=\"text-align: center;\">\nTANKDUINO<\/h2>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm; mso-outline-level: 2;\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-23at01.52.11-1024x512.jpeg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"800\" data-original-width=\"1600\" height=\"200\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-23at01.52.11-1024x512.jpeg\" width=\"400\" \/><\/a><\/div>\n<h2>\n<a href=\"https:\/\/www.blogger.com\/blogger.g?blogID=7750960228674611753\" imageanchor=\"1\" style=\"clear: left; float: left; margin-bottom: 1em; margin-right: 1em;\"><\/a><b><span style=\"color: black; font-family: &quot;trebuchet ms&quot; , sans-serif; font-size: large;\">Contenidos<\/span><\/b><\/h2>\n<\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<u><b><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">1.&nbsp;<\/span><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">Introducci\u00f3n<\/span><span style=\"font-family: &quot;trebuchet ms&quot; , sans-serif; font-size: 10.0pt;\"><\/span><\/b><\/u><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<u><b><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">2.&nbsp;<\/span><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">Autor\u00eda<\/span><span style=\"font-family: &quot;trebuchet ms&quot; , sans-serif; font-size: 10.0pt;\"><\/span><\/b><\/u><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<u><b><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">3.&nbsp;<\/span><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">Componentes<\/span><\/b><\/u><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<u><b><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">4.&nbsp;<\/span><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">Montaje<\/span><span style=\"font-family: &quot;trebuchet ms&quot; , sans-serif; font-size: 10.0pt;\"><\/span><\/b><\/u><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<u><b><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">5.&nbsp;<\/span><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">C\u00f3digo<\/span><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\"><\/span><\/b><\/u><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<u><b><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">6. <\/span><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">Problemas encontrados<\/span><span style=\"font-family: &quot;trebuchet ms&quot; , sans-serif; font-size: 10.0pt;\"><\/span><\/b><\/u><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<u><b><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">7.&nbsp;<\/span><span style=\"background-color: transparent;\"><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10pt;\">Mejoras<\/span><\/span><\/b><\/u><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<u><b><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10.0pt;\">8.&nbsp;<\/span><span style=\"background-color: transparent;\"><span style=\"font-family: &quot;arial&quot; , sans-serif; font-size: 10pt;\">Conclusi\u00f3n<\/span><\/span><\/b><\/u><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<h1 style=\"margin-left: 36.0pt; mso-list: l1 level1 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-language: ES; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">1.<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp;&nbsp;&nbsp; <\/span><\/span><\/span><span style=\"mso-fareast-font-family: &quot;Times New Roman&quot;; mso-fareast-language: ES;\">Introducci\u00f3n<\/span><\/h1>\n<div class=\"MsoNormal\">\n<span style=\"font-family: &quot;georgia&quot; , &quot;times new roman&quot; , serif; mso-fareast-language: ES;\">El proyecto consiste<br \/>\nen un tanque a control remoto mediante una conexi\u00f3n bluetooth.<\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"font-family: &quot;georgia&quot; , &quot;times new roman&quot; , serif; mso-fareast-language: ES;\">La mayor parte de las<br \/>\npiezas del tanque est\u00e1n dise\u00f1adas e impresas en una impresora 3D, salvo el<br \/>\nca\u00f1\u00f3n, que es una tuber\u00eda de pl\u00e1stico adaptada en tama\u00f1o, y la plataforma<br \/>\nsuperior que es una madera, para poder atornillar bien los drivers y<br \/>\ncontroladores de Arduino.<\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\"><span style=\"font-family: &quot;georgia&quot; , &quot;times new roman&quot; , serif;\">En el siguiente V\u00eddeo<br \/>\nmostramos el tanque en funcionamiento:<\/span><\/span><\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<p><\/p>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<\/div>\n<h1 style=\"margin-left: 36.0pt; mso-list: l1 level1 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">2.<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp;&nbsp;&nbsp;<br \/>\n<\/span><\/span><\/span>Autor\u00eda<\/h1>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Este Proyecto ha sido<br \/>\nrealizado por los integrantes del grupo 3 de la asignatura Sistemas Empotrados<br \/>\ny Tiempo Real del a\u00f1o 2018\/2019 en el Campus de Vic\u00e1lvaro de la URJC:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: 3.0pt; margin-left: 0cm; margin-right: 0cm; margin-top: 0cm; mso-list: l0 level1 lfo2; tab-stops: list 36.0pt; text-indent: 0cm;\">\n<\/p>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Javier<br \/>\nRogina Gallego.<\/span><\/li>\n<li><span style=\"font-family: &quot;symbol&quot;; font-size: 10pt; text-indent: 0cm;\"><span style=\"mso-list: Ignore;\"><span style=\"font-family: &quot;times new roman&quot;; font-size: 7pt; font-stretch: normal; line-height: normal;\">&nbsp;<\/span><\/span><\/span><span style=\"text-indent: 0cm;\">Guillermo<br \/>\nCastro Mart\u00ednez.<\/span><\/li>\n<\/ul>\n<\/div>\n<div class=\"MsoNormal\" style=\"background: white; line-height: normal; margin-bottom: 3.0pt;\">\n<\/div>\n<h1 style=\"margin-left: 36.0pt; mso-list: l1 level1 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-language: ES; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">3.<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp;&nbsp;&nbsp; <\/span><\/span><\/span><span style=\"mso-fareast-language: ES;\">Componentes<\/span><\/h1>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Al ser un grupo de 2 personas<br \/>\nno se nos ha entregado ning\u00fan pack de Arduino, por lo que hemos tenido que<br \/>\ncomprar todas las piezas. La inversi\u00f3n se ha realizado de la siguiente manera:<\/span><\/div>\n<div class=\"MsoNormal\">\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">2 x ELEGOO Conjunto<br \/>\nMas Completo y Avanzado de Iniciaci\u00f3n a Arduino (55\u20ac\/u). E<\/span>ste pack incluye la<br \/>\nplaca de Arduino Mega 2560 y varios componentes que se suelen usar con mucha<br \/>\nfrecuencia.<\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">2x Motor Stepper con<br \/>\ncontrolador (incluido en el pack Elengoo[1 en cada pack])<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Placa de Arduino Mega 2560 (incluido<br \/>\nen el pack Elengoo)<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">4 x Motores 5-12V con estructura<br \/>\nde engranaje (15,99\u20ac)<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Driver L298 para motores DC (10\u20ac).<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Module BT HC05 (13\u20ac).<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">20x Pilas 9 Voltios. (2\u20ac\/u).<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Bobina PLA 1Kg (25\u20ac)<\/span><\/li>\n<\/ul>\n<ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">64x Piezas de oruga (Dise\u00f1o 3D).<\/span>&nbsp;<\/li>\n<\/ul>\n<\/ul>\n<ul><\/ul>\n<ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">4x Engranajes (Dise\u00f1o 3D)&nbsp;<\/span><\/li>\n<\/ul>\n<\/ul>\n<ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">6x Conectores cuadrados (Dise\u00f1o<br \/>\n3D).<\/span><\/li>\n<\/ul>\n<\/ul>\n<ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">2x Frontal (Dise\u00f1o 3D).<\/span><\/li>\n<\/ul>\n<\/ul>\n<ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">4x Guardabarros. (Dise\u00f1o 3D).<\/span><\/li>\n<\/ul>\n<\/ul>\n<ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">4x CubreRuedas. (Dise\u00f1o 3D).<\/span><\/li>\n<\/ul>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">2 x miniProtoplaca (incluido en el pack<br \/>\nElengoo).<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Cables (incluido en el pack<br \/>\nElengoo).<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Tuber\u00eda de pl\u00e1stico 1cm de secci\u00f3n<br \/>\n(0,5\u20ac).<\/span><\/li>\n<\/ul>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Madera, tornillos, y pegamento<br \/>\n(~12\u20ac).<\/span><\/li>\n<\/ul>\n<div>\nEn total, unos 260\u20ac, teniendo en cuenta que no tengas ning\u00fan material desde el inicio.<\/p>\n<p><\/div>\n<\/div>\n<h1 style=\"margin-left: 36.0pt; mso-list: l1 level1 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-language: ES; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">4.<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp;&nbsp;&nbsp; <\/span><\/span><\/span><span style=\"mso-fareast-language: ES;\">Montaje<\/span><\/h1>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Lo primer que hicimos<br \/>\npara el montaje fue la parte inferior del tanque. Necesit\u00e1bamos imprimir las<br \/>\npiezas en la impresora 3D, lo que nos ha llevado alrededor de 9 d\u00edas netos de<br \/>\nImpresi\u00f3n:<\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><\/div>\n<div class=\"MsoNormal\">\n<\/p>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-03-26at23.24.19-576x1024.jpeg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"1600\" data-original-width=\"900\" height=\"400\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-03-26at23.24.19-576x1024.jpeg\" width=\"225\" \/><\/a><\/div>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">64x Piezas de oruga (1<br \/>\nhora por pieza).<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">4x Engranajes (3 horas<br \/>\npor pieza).<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">6X Conectores<br \/>\ncuadrados (10 horas por pieza).<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">2x Frontal (20 horas<br \/>\npor pieza).<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">4x Guardabarros. (5h por pieza). <\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">4x CubreRuedas. (5h por pieza).<\/span><\/li>\n<\/ul>\n<\/div>\n<div class=\"MsoNormal\">\nEn el siguiente enlace se pueden descargar los dise\u00f1os:<br \/>\n<a href=\"https:\/\/mega.nz\/#F!TEMzQAzK!UG1YQw-sWRlo1OBW4s0N8Q\">https:\/\/mega.nz\/#F!TEMzQAzK!UG1YQw-sWRlo1OBW4s0N8Q<\/a><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES; mso-no-proof: yes;\"><\/span><span style=\"mso-fareast-language: ES;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES; mso-no-proof: yes;\"><\/span><span style=\"mso-fareast-language: ES;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES; mso-no-proof: yes;\"><\/span><span style=\"mso-fareast-language: ES;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">El tanque tiene 4<br \/>\nmotores DC montados en Paralelo 2 a 2, que provocan el movimiento de los<br \/>\nengranajes de las orugas. Los Leds est\u00e1n todos montados en paralelo para<br \/>\nencenderlos al mismo tiempo. A continuaci\u00f3n, facilitamos unos bocetos del<br \/>\ndise\u00f1o final del tanque:<\/span><\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/asdd.png\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"420\" data-original-width=\"710\" height=\"236\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/asdd.png\" width=\"400\" \/><\/a><a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/asdf-1024x980.png\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"1243\" data-original-width=\"1299\" height=\"611\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/asdf-1024x980.png\" width=\"640\" \/><\/a><\/div>\n<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Los componentes<br \/>\nelectr\u00f3nicos est\u00e1n montados seg\u00fan se muestra en la siguiente imagen:<\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><\/p>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/tanque_bb-1024x987.png\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"1543\" data-original-width=\"1600\" height=\"616\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/tanque_bb-1024x987.png\" width=\"640\" \/><\/a><\/div>\n<p>\nAqu\u00ed ofrecemos unas im\u00e1genes del tanque real para que se<br \/>\naprecie c\u00f3mo se ha montado:<\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<p><span style=\"mso-no-proof: yes;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-no-proof: yes;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-no-proof: yes;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-23at01.52.24-1024x512.jpeg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"800\" data-original-width=\"1600\" height=\"160\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-23at01.52.24-1024x512.jpeg\" width=\"320\" \/><\/a><\/div>\n<p><\/p>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-17at11.22.50-1024x768.jpeg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"1200\" data-original-width=\"1600\" height=\"240\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-17at11.22.50-1024x768.jpeg\" width=\"320\" \/><\/a><\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-22at23.50.47-1024x768.jpeg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"1200\" data-original-width=\"1600\" height=\"240\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-22at23.50.47-1024x768.jpeg\" width=\"320\" \/><\/a><\/div>\n<p><\/p>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-22at23.51.09-1024x768.jpeg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"1200\" data-original-width=\"1600\" height=\"240\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/WhatsAppImage2019-04-22at23.51.09-1024x768.jpeg\" width=\"320\" \/><\/a><\/div>\n<p><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-no-proof: yes;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-no-proof: yes;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<p><span style=\"mso-no-proof: yes;\"><\/span><\/div>\n<h1 style=\"margin-left: 36.0pt; mso-list: l1 level1 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">5.<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp;&nbsp;&nbsp;<br \/>\n<\/span><\/span><\/span>C\u00f3digo<\/h1>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Lo primero, vamos a<br \/>\nexplicar c\u00f3mo configurar el Bluetooth HC-05, puesto que es necesario para tener<br \/>\nla conectividad con el smartphone.<\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Conexiones del HC-05<br \/>\npara configurarlo:<\/span><\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/hc05.png\" imageanchor=\"1\" style=\"clear: left; float: left; margin-bottom: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"267\" data-original-width=\"804\" height=\"132\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/hc05.png\" width=\"400\" \/><\/a><\/div>\n<p><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><\/p>\n<p><span style=\"mso-fareast-language: ES;\">C\u00f3digo que debemos<br \/>\nusar:<\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><\/div>\n<table border=\"1\" cellpadding=\"0\" cellspacing=\"0\" class=\"MsoTableGrid\" style=\"border-collapse: collapse; border: none; mso-border-alt: solid windowtext .5pt; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt; mso-yfti-tbllook: 1184;\">\n<tbody>\n<tr style=\"mso-yfti-firstrow: yes; mso-yfti-irow: 0; mso-yfti-lastrow: yes;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: 0cm 5.4pt 0cm 5.4pt; width: 424.7pt;\" valign=\"top\" width=\"566\">\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\">#include<br \/>\n  &lt;SoftwareSerial.h&gt;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\">SoftwareSerial<br \/>\n  mySerial (12, 13); \/\/ RX, TX<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\">void setup() {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>Serial.begin(9600);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>mySerial.begin(38400);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>while (!Serial) {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>; \/\/ wait for serial port to connect.<br \/>\n  Needed for native USB port only<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>serial.print(\u00abConfiguraci\u00f3n\u00bb);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\">}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\">void loop() { <\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>if (mySerial.available()) {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>Serial.write(mySerial.read());<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>if (Serial.available()) {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>mySerial.write(Serial.read());<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"color: windowtext; mso-fareast-language: ES;\">}<\/span><\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<div class=\"MsoNormal\">\n<br \/>\nAntes de conectar el cable al pin de 5V, tras haber cargado el c\u00f3digo en Arduino, debemos mantener pulsado el bot\u00f3n del dispositivo para entrar en AT (Modo configuraci\u00f3n). Cuando el led del dispositivo parpadee levemente, es que hemos entrado.<\/p>\n<p>Abrimos el Serial (ponemos a \u201cAmbos NL &amp; CR\u201d y 9600<br \/>\nBaudios). Despu\u00e9s ejecutamos los comandos en el siguiente Orden para ponerlo en<br \/>\nmodo <b style=\"mso-bidi-font-weight: normal;\">esclavo:<\/b><\/div>\n<div class=\"MsoNormal\">\n<\/p>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/serial.png\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"391\" data-original-width=\"712\" height=\"218\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/serial.png\" width=\"400\" \/><\/a><\/div>\n<p><\/div>\n<div class=\"MsoNormal\">\n<\/p>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">AT+ORGL para hacer un<br \/>\nreset de f\u00e1brica, por si tuviera ya una configuraci\u00f3n puesta.<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">AT+NAME? Para<br \/>\ncomprobar el nombre del dispositivo.<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">AT+ROLE? Para ver si<br \/>\nes Esclavo o Maestro. (0=Esclave, 1=Maestro)<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">AT+PSWD?<span style=\"mso-spacerun: yes;\">&nbsp; <\/span>Para comprobar qu\u00e9 PIN tiene.<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">AT+UART? para<br \/>\ncomprobar la velocidad a la que se conectar\u00e1n los BT (debe ser 9600).<\/span><\/li>\n<\/ul>\n<\/div>\n<div class=\"MsoNormal\">\nSi queremos cambiar<br \/>\nalguno de esos par\u00e1metros debemos asignarle un nuevo valor. Ejemplo con<br \/>\nAT+NAME:<\/p>\n<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">AT+NAME=Nombre<\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Este es el nombre que<br \/>\naparecer\u00e1 al buscarlo con nuestro smartphone.<\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Tras esto, ya se puede<br \/>\nconectar a la placa con todos los dem\u00e1s componentes, a la que hemos cargado el<br \/>\nsiguiente c\u00f3digo:<\/span><\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<table border=\"1\" cellpadding=\"0\" cellspacing=\"0\" class=\"MsoTableGrid\" style=\"border-collapse: collapse; border: none; mso-border-alt: solid windowtext .5pt; mso-padding-alt: 0cm 5.4pt 0cm 5.4pt; mso-yfti-tbllook: 1184;\">\n<tbody>\n<tr style=\"mso-yfti-firstrow: yes; mso-yfti-irow: 0; mso-yfti-lastrow: yes;\">\n<td style=\"border: solid windowtext 1.0pt; mso-border-alt: solid windowtext .5pt; padding: 0cm 5.4pt 0cm 5.4pt; width: 424.7pt;\" valign=\"top\" width=\"566\">\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">\/\/@Autor Javier Rogina &amp; Guillermo Castro<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">\/\/ Pines del Motor Driver.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int ena = 48;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int enb = 53;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int in1 = 49; \/\/Primer Pin para manejar motor A.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int in2 = 50; \/\/Segundo Pin para manejar motor A.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int in3 = 51; \/\/Primer Pin para manejar motor B.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int in4 = 52; \/\/Segundo Pin para manejar motor B.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">\/\/Pines del Stepper de la Torreta<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int s1 = 9;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int s2 = 10;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int s3 = 11;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int s4 = 12;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">\/\/Pines del Stepper del Ca\u00f1\u00f3n<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int s5 = 5;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int s6 = 6;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int s7 = 7;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">int s8 = 8;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp; <\/span><\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">void setup() {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Declaramos todos los pines que<br \/>\n  vamos a usar.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(13, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(s1, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(s2, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(s3, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(s4, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(s5, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(s6, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(s7, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(s8, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(ena, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(enb, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(in1, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(in2, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(in3, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>pinMode(in4, OUTPUT);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>Serial.begin(9600); \/\/iniciamos<br \/>\n  el serial que se comunicar\u00e1 con el dispositivo BT.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">void cannon_Arriba() {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Mueve el Stepper del ca\u00f3n hacia<br \/>\n  arriba(si el tanque est\u00e1 en posici\u00f3n frontal) un paso.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2); \/\/Es obligatorio poner<br \/>\n  un delay de almenos 2, ya que sino no hace los pasos correctamente.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void cannon_Abajo() {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Baja el ca\u00f1\u00f3n.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s5, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s6, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s7, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s8, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\">void torreta_Derecha() {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Mueve la torreta en sentido<br \/>\n  agujas del reloj un paso.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void torreta_Izquierda() {<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Mueve la torreta en sentido<br \/>\n  antihorario un paso.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s1, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(s4, HIGH);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>delay(2);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void motor_alante(){<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(ena, 255); \/\/Potencia<br \/>\n  del motor A (0-255).<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(enb, 255); \/\/Potencia<br \/>\n  del motor B (0-255).<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in1, HIGH); \/\/Motor A<br \/>\n  sentido horario.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in3, HIGH); \/\/ Motor<br \/>\n  B sentido horario.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void motor_atras(){<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(ena, 255); \/\/Potencia<br \/>\n  del motor A (0-255).<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(enb, 255); \/\/Potencia<br \/>\n  del motor B (0-255).<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in2, HIGH); \/\/ Motor<br \/>\n  A sentido antihorario.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in4, HIGH); \/\/ Motor<br \/>\n  B sentido antihorario.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void motor_derecha(){<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Se apagan los motores derechos,<br \/>\n  de manera que la oruga izquierda hace el movimiento y simula el giro.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(ena, 255);<span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Potencia del motor A (0-255).<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(enb, 0);<span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>\/\/Motor B apagado.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in1, HIGH); \/\/Motor A<br \/>\n  sentido horario.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in3, LOW); \/\/Motor B<br \/>\n  apagado.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in4, LOW); \/\/Motor B<br \/>\n  apagado.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void motor_izquierda(){<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Se apagan los motores<br \/>\n  izquierdos para simular el giro a la derecha.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(ena, 0); \/\/Motor B<br \/>\n  apagado.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(enb, 255); \/\/Potencia<br \/>\n  del motor B (0-255).<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in1, LOW); \/\/Motor A<br \/>\n  apagado.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in2, LOW); \/\/Motor A<br \/>\n  apagado.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in3, HIGH);<br \/>\n  \/\/Potencia del motor A (0-255).<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void disparar(){<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>\/\/Enciende el Led 2 segundos y<br \/>\n  luego lo apaga (simula el disparo).<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>digitalWrite(13, 255);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>delay(2000);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>digitalWrite(13, 0);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void pausa(){<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>\/\/Apaga todos los motores para que<br \/>\n  el tanque permanezca en el sitio.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(ena, 0);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(enb, 0);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in1, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in2, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in3, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>digitalWrite(in4, LOW);<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>void loop(){<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>int varBT = Serial.read();<br \/>\n  \/\/Leemos lo que manda el smartphone.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>int vari = varBT &#8211; 48; \/\/Al ser<br \/>\n  un Char ASCII, restamos 48 para simular n\u00fameros del 1 al 9.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>switch (varBT) { \/\/Dependiendo de<br \/>\n  lo que hayamos recibido:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;0&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>motor_derecha(); \/\/Giro a la derecha<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;1&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>motor_izquierda(); \/\/Giro a<br \/>\n  la izquierda<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;2&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>motor_atras(); \/\/Marcha atr\u00e1s<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;3&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>motor_alante(); \/\/Avanzar<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;4&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>cannon_Arriba(); \/\/Sube el<br \/>\n  ca\u00f1\u00f3n.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span><\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;5&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>cannon_Abajo(); \/\/Baja el<br \/>\n  ca\u00f1on.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;6&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>torreta_Derecha(); \/\/Gira la<br \/>\n  torreta sentido horario.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;7&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>torreta_Izquierda(); \/\/Gira<br \/>\n  la torreta sentido antihorario.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;8&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>disparar(); \/\/Enciende el Led<br \/>\n  del ca\u00f1on.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<span style=\"mso-spacerun: yes;\">&nbsp;&nbsp; <\/span><\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>case &#8216;9&#8217;:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>pausa(); \/\/Para los motores.<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span><\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp; <\/span>default:<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>\/\/Nada. Si recibimos datos<br \/>\n  err\u00f3neos (el -1 se recibe si se pierde la conexi\u00f3n hasta que se conecta de<br \/>\n  nuevo)<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <\/span>break;<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp; <\/span>}<\/span><\/div>\n<div class=\"MsoNormal\" style=\"line-height: normal; margin-bottom: .0001pt; margin-bottom: 0cm;\">\n<span style=\"font-family: &quot;cambria&quot; , serif; font-size: 8.0pt;\"><span style=\"mso-spacerun: yes;\">&nbsp;<\/span>}<\/span><\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<div class=\"MsoNormal\">\n<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Para controlar el<br \/>\ntanque, hemos usado la aplicaci\u00f3n <b>Arduino BlueTooth Control<\/b>. Para conectarlo,<br \/>\ndebemos emparejarnos con el dispositivo HC-05 que hemos usado,<\/span><\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-no-proof: yes;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<\/p>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/1-3-512x1024.jpg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"1600\" data-original-width=\"800\" height=\"320\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/1-3-512x1024.jpg\" width=\"160\" \/><\/a><\/div>\n<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Usamos la opci\u00f3n<br \/>\nController mode.<\/span><\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<p><span style=\"mso-no-proof: yes;\"><\/span><span style=\"mso-fareast-language: ES;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/2-3-512x1024.jpg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"1600\" data-original-width=\"800\" height=\"320\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/2-3-512x1024.jpg\" width=\"160\" \/><\/a><\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<a href=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/3-4-1024x576.jpg\" imageanchor=\"1\" style=\"margin-left: 1em; margin-right: 1em;\"><img loading=\"lazy\" decoding=\"async\" border=\"0\" data-original-height=\"576\" data-original-width=\"1024\" height=\"180\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/3-4-1024x576.jpg\" width=\"320\" \/><\/a><\/div>\n<p><span style=\"mso-fareast-language: ES;\"><br \/><\/span><br \/>\n<span style=\"mso-fareast-language: ES;\">En la configuraci\u00f3n,<br \/>\nhemos puesto lo siguiente:<\/span><\/div>\n<div class=\"MsoNormal\">\n<\/p>\n<ul>\n<li><span style=\"mso-fareast-language: ES;\">Flecha Arriba: 3<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">Flecha Abajo: 2<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">Fecha derecha: 0<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">Flecha izquierda: 1<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">Tri\u00e1ngulo: 4<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">Cuadrado:<span style=\"mso-spacerun: yes;\">&nbsp; <\/span>7<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">C\u00edrculo: 5<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">Equis: 6<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">Select: 8<\/span><\/li>\n<li><span style=\"mso-fareast-language: ES;\">Start: 9<\/span><\/li>\n<\/ul>\n<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-fareast-language: ES;\">Que corresponde con<br \/>\nlos distintos \u201cCase\u201d del c\u00f3digo del tanque.<\/span><br \/>\n<span style=\"mso-fareast-language: ES;\"><br \/><\/span><\/div>\n<h1 style=\"margin-left: 36.0pt; mso-list: l1 level1 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">6.<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp;&nbsp;&nbsp;<br \/>\n<\/span><\/span><\/span>Problemas encontrados<\/h1>\n<h3 style=\"text-indent: 18.0pt;\">\n6.1 Disparo del tanque<\/h3>\n<div class=\"MsoNormal\">\nEn un principio ten\u00edamos pensado hacer que el tanque<br \/>\ndisparase pelotas de goma, o de caucho. Probamos usando un solenoide de 32V,<br \/>\npero no ten\u00eda la fuerza suficiente como percusor para disparar. Este problema<br \/>\nintentamos reconducirlo con dos ruedas que girasen y aumentaran la velocidad<br \/>\ninstant\u00e1nea de la pelota al entrar en contacto con ellas (Como un lanzapelotas<br \/>\nde Golf o Tenis), pero la potencia que se necesitaba era demasiado alta, y las<br \/>\npilas ca\u00edan como moscas. Entonces se nos vino a la cabeza usar un sistema de<br \/>\nballesta o catapulta, pero ocupaba demasiado espacio en la plataforma del<br \/>\ntanque, y los servos que us\u00e1bamos (sg90) no aguantaban la tensi\u00f3n de la cuerda\/goma<br \/>\nel\u00e1stica.<\/p>\n<\/div>\n<div class=\"MsoNormal\">\nFinalmente, decidimos poner un led al final del ca\u00f1\u00f3n para<br \/>\nsimular el disparo con luz.<\/p>\n<\/div>\n<h3 style=\"margin-left: 36.0pt; mso-list: l1 level2 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">6.2<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp; <\/span><\/span><\/span>Espacio<\/h3>\n<div class=\"MsoNormal\">\nTras imprimir las piezas de la parte inferior del tanque,<br \/>\nnos dimos cuenta de que no ten\u00eda espacio suficiente para albergar los 4<br \/>\nmotores, la protoplaca y la placa Arduino. Para solucionarlo, pusimos un<br \/>\nseparador m\u00e1s (inicialmente 3), y tuvimos que sumarle 2 piezas m\u00e1s a la oruga.<\/p>\n<\/div>\n<h3 style=\"margin-left: 36.0pt; mso-list: l1 level2 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">6.3<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp; <\/span><\/span><\/span>Parte<br \/>\nSuperior<\/h3>\n<div class=\"MsoNormal\">\nSolucionar el problema anterior origin\u00f3 un nuevo problema.<br \/>\nLa parte superior del tanque que hab\u00edamos impreso no encajaba. Al haber gastado<br \/>\ntanto PLA (1Kg aproximadamente), y por falta de tiempo y recursos, decidimos<br \/>\nsuplirlo con una madera en la que encajamos todos los controladores en la parte<br \/>\ninferior.<\/p>\n<\/div>\n<h3 style=\"margin-left: 36.0pt; mso-list: l1 level2 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">6.4<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp; <\/span><\/span><\/span>Potencia<br \/>\nMotores<\/h3>\n<div class=\"MsoNormal\">\nTras incorporar todos los componentes en el tanque, y hacer<br \/>\nla primera prueba con todo el peso, vimos que una pila de 9V no era suficiente<br \/>\npara los motores. Por eso mismo usamos 2 pilas de 9V en serie (18V)<span style=\"mso-spacerun: yes;\">&nbsp; <\/span>lo que aument\u00f3 el rendimiento<br \/>\nconsiderablemente.<\/p>\n<\/div>\n<h3 style=\"margin-left: 36.0pt; mso-list: l1 level2 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">6.5<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp; <\/span><\/span><\/span>Mando<br \/>\nBluetooth<\/h3>\n<div class=\"MsoNormal\">\nUna de las partes de este proyecto era construir un mando a<br \/>\ndistancia con 2 JoySticks y un m\u00f3dulo BT para manejar el tanque. El problema<br \/>\nque encontramos fue que la sincronizaci\u00f3n de ambos m\u00f3dulos BT no se realizaba<br \/>\ncorrectamente, cada pocos segundos se perd\u00eda la conexi\u00f3n. Tras consultar en<br \/>\nForos de Arduino, vimos que parec\u00eda un problema de f\u00e1brica de algunas unidades<br \/>\ndel m\u00f3dulo HC-05 que imped\u00eda conectarse Master-Slave con otro HC-05, y que era<br \/>\nnecesario un HC-06. Por eso mismo, decidimos usar la aplicaci\u00f3n Arduino<br \/>\nBluetooth Control, que solucion\u00f3 el problema en su totalidad.<\/div>\n<div class=\"MsoNormal\">\n<span style=\"mso-no-proof: yes;\"><\/span><\/div>\n<div class=\"MsoNormal\">\n<div class=\"separator\" style=\"clear: both; text-align: center;\">\n<\/div>\n<p><\/div>\n<h3 style=\"margin-left: 36.0pt; mso-list: l1 level2 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">6.6<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp; <\/span><\/span><\/span>Servo<br \/>\nVS Stepper<\/h3>\n<div class=\"MsoNormal\">\nLa parte del tanque y del ca\u00f1\u00f3n, en un principio, eran dos<br \/>\nservos. Uno manejaba el eje X y el otro el Eje y. Sin embargo, en cuanto le<br \/>\npusimos la tuber\u00eda, el Servo ya no pod\u00eda levantar el Peso, y el giro de la<br \/>\ntorreta era irregular. Esto lo solucionamos con 2 motores Steppers, que giraban<br \/>\n360\u00ba y tienen mayor fuerza si se programan adecuadamente.<\/p>\n<\/div>\n<h3 style=\"margin-left: 36.0pt; mso-list: l1 level2 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">6.7<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp; <\/span><\/span><\/span>Consumo<br \/>\nde Pilas<\/h3>\n<div class=\"MsoNormal\">\nDurante el proyecto, usamos una gran cantidad de pilas de 9V<br \/>\npara pruebas, alrededor de 20. Este problema pensamos en solucionarlo con un<br \/>\nPowerBank de 20mil mAh para conectarlo a la placa, pero el peso era demasiado y<br \/>\nhac\u00eda oscilar al tanque. Como el consumo de pila es, en su mayor\u00eda, por el<br \/>\ncontrolador de los motores, decidimos dejarlo como estaba.<\/p>\n<\/div>\n<h1 style=\"margin-left: 36.0pt; mso-list: l1 level1 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">7.<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp;&nbsp;&nbsp;<br \/>\n<\/span><\/span><\/span>Mejoras que se podr\u00edan hacer.<\/h1>\n<div class=\"MsoNormal\">\nUna de las cosas que se nos ha quedado pendientes de este<br \/>\nproyecto es hacer el movimiento del tanque progresivo. Es decir, que se pueda<br \/>\nelegir la velocidad de los motores DC. Esto se har\u00eda con los pines ENA y ENB del driver, indic\u00e1ndoles<br \/>\nun valor de 0 a 255.<\/p>\n<\/div>\n<div class=\"MsoNormal\">\nPara disparar el tanque vimos, demasiado tarde para<br \/>\nprobarlo, que se puede hacer con aire comprimido, y se le puede regular la<br \/>\npotencia.<\/p>\n<\/div>\n<div class=\"MsoNormal\">\nLas orugas son de PLA, y resbala en superficies lisas. Se<br \/>\npodr\u00eda incorporar cierta adherencia con puntos de silicona colocados en cada<br \/>\npieza (pero no en las juntas), o usando FilaFlex en vez de PLA. Nosotros no<br \/>\npudimos hacerlo por falta de tiempo y dinero.<\/p>\n<\/div>\n<h1 style=\"margin-left: 36.0pt; mso-list: l1 level1 lfo1; text-indent: -18.0pt;\">\n<span style=\"mso-bidi-font-family: &quot;Calibri Light&quot;; mso-bidi-theme-font: major-latin; mso-fareast-font-family: &quot;Calibri Light&quot;; mso-fareast-theme-font: major-latin;\"><span style=\"mso-list: Ignore;\">8.<span style=\"font: 7.0pt &quot;Times New Roman&quot;;\">&nbsp;&nbsp;&nbsp;<br \/>\n<\/span><\/span><\/span>Conclusi\u00f3n.<\/h1>\n<div class=\"MsoNormal\">\nEl tanque es bastante complejo, y quiz\u00e1 ha sido un proyecto<br \/>\nmuy largo para hacer en estos 2-3 meses. Si hubi\u00e9semos sabido el tiempo de<br \/>\nimpresi\u00f3n de las piezas lo hubi\u00e9ramos priorizado, aunque era dif\u00edcil saber qu\u00e9<br \/>\nimprimir sin tener claro qu\u00e9 componentes \u00edbamos a usar.<\/div>\n<div class=\"MsoNormal\">\nEn cualquier caso, este proyecto nos ha servido para optimizar<br \/>\nel espacio y los pines de la placa de Arduino, y nos ha ayudado a ver lo f\u00e1cil<br \/>\nque es hacer cualquier cosa con este tipo de sistemas si le pones empe\u00f1o y<br \/>\ntiempo, y la versatilidad con la que se solucionan los problemas gracias al<br \/>\nOpen Source.<\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<div class=\"MsoNormal\">\n<\/div>\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>TANKDUINO Contenidos 1.&nbsp;Introducci\u00f3n 2.&nbsp;Autor\u00eda 3.&nbsp;Componentes 4.&nbsp;Montaje 5.&nbsp;C\u00f3digo 6. Problemas encontrados 7.&nbsp;Mejoras 8.&nbsp;Conclusi\u00f3n 1.&nbsp;&nbsp;&nbsp; Introducci\u00f3n El proyecto consiste en un tanque a control remoto mediante una conexi\u00f3n bluetooth. La mayor parte de las piezas del&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":1702,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[3,4,5,6],"class_list":["post-34","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-proyectos","tag-bluetooth","tag-smartphone","tag-tankduino","tag-tanque"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Tankduino - tu primer tanque controlado desde tu smartphone - Proyectos con Arduino.<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/tankduino-tu-primer-tanque-controlado\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Tankduino - tu primer tanque controlado desde tu smartphone - Proyectos con Arduino.\" \/>\n<meta property=\"og:description\" content=\"TANKDUINO Contenidos 1.&nbsp;Introducci\u00f3n 2.&nbsp;Autor\u00eda 3.&nbsp;Componentes 4.&nbsp;Montaje 5.&nbsp;C\u00f3digo 6. Problemas encontrados 7.&nbsp;Mejoras 8.&nbsp;Conclusi\u00f3n 1.&nbsp;&nbsp;&nbsp; Introducci\u00f3n El proyecto consiste en un tanque a control remoto mediante una conexi\u00f3n bluetooth. 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