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INICIO

Define leds nas portas PWm

3-(Motor1 Pos)

5-(Motor1 Neg)

9-(Motor2 Pos)

10-(Motor2 Neg)

Chama função que define movimento

HorarioCentroMassa

Ré

HorarioRoda

AntiHorarioCentroMassa

AntiHorarioRoda

Move Frente

3-(ON)

5-(OFF)

9-(ON)

10-(OFF)

3-(OFF)

5-(ON)

9-(OFF)

10-(ON)

3-(ON)

5-(OFF)

9-(OFF)

10-(ON)

3-(OFF)

5-(ON)

9-(ON)

10-(OFF)

3-(ON)

5-(OFF)

9-(OFF)

10-(OFF)

3-(OFF)

5-(OFF)

9-(ON)

10-(OFF)