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full.ino
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full.ino
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// sonar
const int vccPin = 11;
const int trigPin = 12;
const int echoPin = 13;
// Motor A
int enA = 9;
int in1 = 8;
int in2 = 7;
// Motor B
int enB = 3;
int in3 = 5;
int in4 = 4;
float duration, distance;
int car_speed = 100;
// float old = 20;
float ultrsonic_distance = 20.0;
void setup() {
// Set all the pins
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(vccPin, OUTPUT);
digitalWrite(vccPin, HIGH);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
Serial.begin(9600);
delay(5000);
start_car();
forward(car_speed);
}
void loop() {
distance = UltraSonic_Ping();
if(distance < 40.0)
{
backward(car_speed, 1500);
backward_left(car_speed, 1000);
}
else
{
forward(car_speed);
}
Serial.print("Distance: ");
Serial.println(distance);
//Serial.print("Speed: ");
//Serial.println(car_speed);
delay(200);
}
void start_car()
{
// Turn on motor A
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
// Turn on motor B
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(2000);
}
void stop_car()
{
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
void forward(int car_speed)
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(enA, car_speed);
analogWrite(enB, car_speed);
}
void backward(int car_speed, int len_time)
{
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
analogWrite(enA, car_speed);
analogWrite(enB, car_speed);
delay(len_time);
stop_car();
}
void forward_right(int car_speed, int len_time)
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(enA, car_speed);
analogWrite(enB, 10);
delay(len_time);
stop_car();
}
void backward_right(int car_speed, int len_time)
{
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
analogWrite(enA, 10);
analogWrite(enB, car_speed);
delay(len_time);
stop_car();
}
void forward_left(int car_speed, int len_time)
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(enA, 10);
analogWrite(enB, car_speed);
delay(len_time);
stop_car();
}
void backward_left(int car_speed, int len_time)
{
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
analogWrite(enA, car_speed);
analogWrite(enB, 10);
delay(len_time);
stop_car();
}
float UltraSonic_Ping()
{
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
return float (((pulseIn(echoPin, HIGH))*.0343)/2);
}
void Go_to_Position()
{
car_speed = 20;
do {
// forward
} while (UltraSonic_Ping() > (ultrsonic_distance+1));
if(distance < (ultrsonic_distance-1))
{
do {
// backward
} while (UltraSonic_Ping() < (ultrsonic_distance-1));
}
}