What i want is to change the output of +5v to 0v to +5v, become -5v to 0v to -5v. The changes of this waveform will be triggered by a switch. Not two kind of waveform produced at same time, just alternating from wave1 to wave2.
I'm designing a 2 legged robot, which will be able to move backward when bumping into an object. But now i only concern how to change from moving forward to backward, by triggering the changes my self, no need bumping into an object. Still testing.
Can anyone give me some ideas? I'm really stuck here.