Für Johannes 1

//Mit Bluetooth


char incomingByte;
// motor one  der rechte Reifen
int enA = 2;
int in1 = 30;
int in2 = 31;
// motor two  der linke Reifen
int enB = 3;
int in3 = 40;
int in4 = 41;

int trig = 8;
int echo = 7;
long lecture_echo;
long cm;


void setup ()
{
   pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(trig, OUTPUT);
  digitalWrite(trig,LOW); // OV
  pinMode(echo,INPUT);
  Serial.begin(9600);
}

void motorStop()
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  analogWrite(enA, 0);

  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enB, 0);

}





void loop ()
{

  digitalWrite(trig,HIGH);

       digitalWrite(trig,LOW);
       lecture_echo = pulseIn(echo,HIGH);
       cm = lecture_echo / 58;

       if (Serial.available())
    {
        incomingByte = Serial.read();
        if(incomingByte == '1')
        {
           //Vorwärts
          digitalWrite(in1, HIGH);
          digitalWrite(in2, LOW);
          analogWrite(enA, 140);

          digitalWrite(in3, HIGH);
          digitalWrite(in4, LOW);
           analogWrite(enB, 140);
        }
        if(incomingByte == '2')
        {
          //Rückwärts
          digitalWrite(in1, LOW);
          digitalWrite(in2, HIGH);
          analogWrite(enA, 100);

          digitalWrite(in3, LOW);
          digitalWrite(in4, HIGH);
           analogWrite(enB, 100);
        }
        if(incomingByte== '4')
        {
          //Rechts
          digitalWrite(in1, LOW);
          digitalWrite(in2, LOW);
          analogWrite(enA, 20);

          digitalWrite(in3, HIGH);
          digitalWrite(in4, LOW);
           analogWrite(enB, 100);
        }
        if(incomingByte== '3')
        {
          //Links
          digitalWrite(in1, HIGH);
          digitalWrite(in2, LOW);
          analogWrite(enA, 100);

          digitalWrite(in3, LOW);
          digitalWrite(in4, LOW);
           analogWrite(enB, 20);

        }
        if(incomingByte== '0')
        {
          //stop
          digitalWrite(in1, LOW);
          digitalWrite(in2, LOW);
          analogWrite(enA, 0);

          digitalWrite(in3, LOW);
          digitalWrite(in4, LOW);
           analogWrite(enB, 0);
        }
      }

    if (cm < 10)
  {
    do
    {

          digitalWrite(in1, LOW);
          digitalWrite(in2, HIGH);
          analogWrite(enA, 200);

          digitalWrite(in3, LOW);
          digitalWrite(in4, HIGH);
           analogWrite(enB, 200);
           digitalWrite(trig,HIGH);

       //digitalWrite(trig,LOW);
       lecture_echo = pulseIn(echo,HIGH);
       cm = lecture_echo / 58;
    } while (cm < 15);
    motorStop();
  }
}