LOLarduino

#include <AFMotor.h>
#include <Ultrasonic.h>



AF_DCMotor m2(1);

AF_DCMotor m3(3);
#define sensorPin 13

//Carrega a biblioteca do sensor ultrassonico

//Define os pinos para o trigger e echo
#define pino_trigger 10
#define pino_echo 9

Ultrasonic ultrasonic(pino_trigger, pino_echo);


bool sensor(){
  float cmMsec;
  long microsec = ultrasonic.timing();
  cmMsec = ultrasonic.convert(microsec, Ultrasonic::CM);
  //Exibe informacoes no serial monitor
  if (cmMsec <= 5) {
     return HIGH;
  }else{
     return LOW;
  }
  delay(500);
}


bool IR(){
  if (digitalRead(sensorPin) == HIGH){
    return HIGH;
    }
  if (digitalRead(sensorPin) == LOW){
    return LOW;
    }
}


void setup() {
   m3.setSpeed(200);
   m2.setSpeed(200);
   m3.run(FORWARD);
   m2.run(FORWARD);
   pinMode(sensorPin ,INPUT);
   digitalWrite(sensorPin,HIGH);

}
void loop()
{
bool Sensor = sensor();

  if(Sensor== HIGH)
  {
     if(IR() == LOW)
     {
      m3.run(FORWARD);
      m2.run(FORWARD);
      m3.setSpeed(250);
      m2.setSpeed(250);
    }
   if(IR() == HIGH)
    {
      m3.run(BACKWARD);
      m2.run(FORWARD);

      m3.setSpeed(250);
      m2.setSpeed(250);
    }

  }
  if (Sensor == LOW){
      m3.run(FORWARD);
      m2.run(BACKWARD);

      m3.setSpeed(250);
      m2.setSpeed(250);

  }

 /*if (sensor() == HIGH)
     {
      m3.run(RELEASE);
      m2.run(RELEASE);
      }
   if (sensor() == HIGH){
      m3.run(BACKWARD);
      m2.run(BACKWARD);
      m3.setSpeed(250);
      m2.setSpeed(250);
      delay(800);

      m3.run(FORWARD);
      m2.run(RELEASE);
      m3.setSpeed(250);
      m2.setSpeed(0);
      delay(400);

   }
*/
}