Project-car-robot > fighting_robot_with_Ultrasonic

#define trigPin 2
#define echoPin 3

long duration;
int distance;

char t;

void setup() {
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(13, OUTPUT);  //left motors forward
  pinMode(12, OUTPUT);  //left motors reverse
  pinMode(11, OUTPUT);  //right motors forward
  pinMode(10, OUTPUT);  //right motors reverse
  pinMode(7, OUTPUT);  //Electric-Detonator
  Serial.begin(9600);
}

void loop() {
  US();
  if (distance <= 20) {
    digitalWrite(13, HIGH);
    digitalWrite(11, HIGH);
    delay(1000);
    digitalWrite(13, LOW);
    digitalWrite(12, LOW);
    digitalWrite(11, LOW);
    digitalWrite(10, LOW);
  }

  if (Serial.available()) {
    t = Serial.read();
    Serial.println(t);
  }

  if (t == 'B') {          //move forward(all motors rotate in forward direction)
    digitalWrite(13, HIGH);
    digitalWrite(11, HIGH);
  }

  else if (t == 'F') {    //move reverse (all motors rotate in reverse direction)
    digitalWrite(12, HIGH);
    digitalWrite(10, HIGH);
  }

  else if (t == 'L') {    //turn right (left side motors rotate in forward direction, right side motors doesn't rotate)
    digitalWrite(11, HIGH);
  }

  else if (t == 'R') {    //turn left (right side motors rotate in forward direction, left side motors doesn't rotate)
    digitalWrite(13, HIGH);
  }

  else if (t == 'w') {  //turn Electric-Detonator on or off)
    digitalWrite(7, HIGH);
  }
  else if (t == 'W') {
    digitalWrite(7, LOW);
  }

  else if (t == 'S') {    //STOP (all motors stop)
    digitalWrite(13, LOW);
    digitalWrite(12, LOW);
    digitalWrite(11, LOW);
    digitalWrite(10, LOW);
  }

}// end of LOOP


void US() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(5);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2;
  //Serial.print("Distance = ");
  //Serial.print(distance);
  //Serial.println(" cm");
}