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Robotite_ylesannete_projekt
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Commit
4ae3d4fb
authored
Sep 14, 2020
by
satsob
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1. ylesanne
parents
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Robot_Car_Test1_-_UltraSonicSensor.ino
Robot_Car_Test1_-_UltraSonicSensor.ino
0 → 100644
View file @
4ae3d4fb
#include <Servo.h>
// Defines
#define right_servo_pin 5 // Define Servo right pin
#define left_servo_pin 6 // Define Servo left pin
// Global variables
Servo
g_left_wheel
;
Servo
g_right_wheel
;
// defines ultrasonic sensor pins numbers
const
int
trigPin
=
4
;
// D4 - Sonic trig
const
int
echoPin
=
3
;
// D3 - Sonic echo
// defines variables for ultrasonic sensor
long
duration
;
int
distance
;
int
getSonicSensor_Distance
()
{
// Get the distance from the Ultrasonic Sensor
// Clears the trigPin
digitalWrite
(
trigPin
,
LOW
);
delayMicroseconds
(
2
);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite
(
trigPin
,
HIGH
);
delayMicroseconds
(
10
);
digitalWrite
(
trigPin
,
LOW
);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration
=
pulseIn
(
echoPin
,
HIGH
);
// Calculating the distance
distance
=
duration
*
0.034
/
2
;
return
distance
;
}
// Stop the robot
void
setWheels_Stop
()
{
g_right_wheel
.
write
(
1500
);
g_left_wheel
.
write
(
1500
);
}
// Drive forward
void
setWheels_Forward
(){
g_right_wheel
.
write
(
1300
);
g_left_wheel
.
write
(
1700
);
}
// drive right
void
setWheels_Right
(){
g_right_wheel
.
write
(
1700
);
g_left_wheel
.
write
(
1700
);
}
// Drive left
void
setWheels_Left
(){
g_right_wheel
.
write
(
1300
);
g_left_wheel
.
write
(
1300
);
}
// Drive backward
/*void setWheels_Backward(){
g_right_wheel.write(1700);
g_left_wheel.write(1300);
}*/
void
setup
()
{
/* Start serial monitor */
Serial
.
begin
(
9600
);
/* Attach servos to digital pins defined earlier */
g_left_wheel
.
attach
(
left_servo_pin
);
g_right_wheel
.
attach
(
right_servo_pin
);
/* Put servos to standstill */
//setWheels();
pinMode
(
trigPin
,
OUTPUT
);
// Sets the trigPin as an Output
pinMode
(
echoPin
,
INPUT
);
// Sets the echoPin as an Input
}
void
loop
()
{
// Gets and Prints the distance on the Serial Monitor
distance
=
getSonicSensor_Distance
();
Serial
.
print
(
"Distance: "
);
Serial
.
println
(
distance
);
if
(
distance
<
30
){
Serial
.
println
(
"Stop"
);
setWheels_Stop
();
delay
(
500
);
/*for(i=0; i++; i<10){
setWheels_Right();
delay(100);
}
if(distance < 30){
for(i=0; i++; i<20){
setWheels_Left();
delay(100);
}
}*/
int
i
=
0
;
while
(
distance
<
30
){
distance
=
getSonicSensor_Distance
();
setWheels_Right
();
delay
(
100
);
i
++
;
if
(
i
>=
10
){
break
;
}
}
while
(
distance
<
30
){
distance
=
getSonicSensor_Distance
();
Serial
.
println
(
distance
);
setWheels_Left
();
delay
(
100
);
}
}
else
if
(
distance
>
30
){
Serial
.
println
(
"Forward"
);
setWheels_Forward
();
delay
(
100
);
}
// Read and write to the console
/*Serial.println("Servo right wheel:");
g_right_wheel.write();
Serial.println("Servo left wheel:");
g_left_wheel.write();*/
}
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