Advertisement
Not a member of Pastebin yet?
Sign Up,
it unlocks many cool features!
- //the right motor will be controlled by the motor A pins on the motor driver
- const int AIN1 = 13; //control pin 1 on the motor driver for the right motor
- const int AIN2 = 12; //control pin 2 on the motor driver for the right motor
- const int PWMA = 11; //speed control pin on the motor driver for the right motor
- //the left motor will be controlled by the motor B pins on the motor driver
- const int PWMB = 8; //speed control pin on the motor driver for the left motor
- const int BIN2 = 9; //control pin 2 on the motor driver for the left motor
- const int BIN1 = 10; //control pin 1 on the motor driver for the left motor
- //distance variables
- const int trigPin = 6;
- const int echoPin = 5;
- //int switchPin = 7; //switch to turn the robot on and off
- float distance = 0; //variable to store the distance measured by the distance sensor
- //robot behaviour variables
- int backupTime = 300; //amount of time that the robot will back up when it senses an object
- int turnTime = 400; //amount that the robot will turn once it has backed up
- /********************************************************************************/
- void setup()
- {
- pinMode(trigPin, OUTPUT); //this pin will send ultrasonic pulses out from the distance sensor
- pinMode(echoPin, INPUT); //this pin will sense when the pulses reflect back to the distance sensor
- //pinMode(switchPin, INPUT_PULLUP); //set this as a pullup to sense whether the switch is flipped
- //set the motor control pins as outputs
- pinMode(AIN1, OUTPUT);
- pinMode(AIN2, OUTPUT);
- pinMode(PWMA, OUTPUT);
- pinMode(BIN1, OUTPUT);
- pinMode(BIN2, OUTPUT);
- pinMode(PWMB, OUTPUT);
- Serial.begin(9600); //begin serial communication with the computer
- Serial.print("To infinity and beyond!"); //test the serial connection
- }
- /********************************************************************************/
- void loop()
- {
- //DETECT THE DISTANCE READ BY THE DISTANCE SENSOR
- distance = getDistance();
- Serial.print("Distance: ");
- Serial.print(distance);
- Serial.println(" in"); // print the units
- // if(digitalRead(switchPin) == LOW){ //if the on switch is flipped
- if(distance < 15){ //if an object is detected
- //back up and turn
- Serial.print(" ");
- Serial.print("BACK!");
- //stop for a moment
- rightMotor(0);
- leftMotor(0);
- // delay(200);
- //back up
- rightMotor(-255);
- leftMotor(-255);
- delay(backupTime);
- //turn away from obstacle
- rightMotor(255);
- leftMotor(-255);
- delay(turnTime);
- }else{ //if no obstacle is detected drive forward
- Serial.print(" ");
- Serial.print("Moving...");
- rightMotor(255);
- leftMotor(255);
- }
- /*} else{ //if the switch is off then stop
- //stop the motors
- rightMotor(0);
- leftMotor(0);
- }*/
- delay(50); //wait 50 milliseconds between readings
- }
- /********************************************************************************/
- void rightMotor(int motorSpeed) //function for driving the right motor
- {
- if (motorSpeed > 0) //if the motor should drive forward (positive speed)
- {
- digitalWrite(AIN1, HIGH); //set pin 1 to high
- digitalWrite(AIN2, LOW); //set pin 2 to low
- }
- else if (motorSpeed < 0) //if the motor should drive backward (negative speed)
- {
- digitalWrite(AIN1, LOW); //set pin 1 to low
- digitalWrite(AIN2, HIGH); //set pin 2 to high
- }
- else //if the motor should stop
- {
- digitalWrite(AIN1, LOW); //set pin 1 to low
- digitalWrite(AIN2, LOW); //set pin 2 to low
- }
- analogWrite(PWMA, abs(motorSpeed)); //now that the motor direction is set, drive it at the entered speed
- }
- /********************************************************************************/
- void leftMotor(int motorSpeed) //function for driving the left motor
- {
- if (motorSpeed > 0) //if the motor should drive forward (positive speed)
- {
- digitalWrite(BIN1, HIGH); //set pin 1 to high
- digitalWrite(BIN2, LOW); //set pin 2 to low
- }
- else if (motorSpeed < 0) //if the motor should drive backward (negative speed)
- {
- digitalWrite(BIN1, LOW); //set pin 1 to low
- digitalWrite(BIN2, HIGH); //set pin 2 to high
- }
- else //if the motor should stop
- {
- digitalWrite(BIN1, LOW); //set pin 1 to low
- digitalWrite(BIN2, LOW); //set pin 2 to low
- }
- analogWrite(PWMB, abs(motorSpeed)); //now that the motor direction is set, drive it at the entered speed
- }
- /********************************************************************************/
- //RETURNS THE DISTANCE MEASURED BY THE HC-SR04 DISTANCE SENSOR
- float getDistance()
- {
- float echoTime; //variable to store the time it takes for a ping to bounce off an object
- float calculatedDistance; //variable to store the distance calculated from the echo time
- //send out an ultrasonic pulse that's 10ms long
- digitalWrite(trigPin, HIGH);
- delayMicroseconds(10);
- digitalWrite(trigPin, LOW);
- echoTime = pulseIn(echoPin, HIGH); //use the pulsein command to see how long it takes for the
- //pulse to bounce back to the sensor
- calculatedDistance = echoTime / 148.0; //calculate the distance of the object that reflected the pulse (half the bounce time multiplied by the speed of sound)
- return calculatedDistance; //send back the distance that was calculated
- }
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement