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  1. //Distance
  2. int d=20;
  3.  
  4. //Ultrasonic Pins Defined
  5. //L
  6. const int trigPin1 = 12;
  7. const int echoPin1 = 13;
  8. //F
  9. const int trigPin2 = 8;
  10. const int echoPin2 = 9;
  11. //R
  12. const int trigPin3 = 4;
  13. const int echoPin3 = 5;
  14.  
  15. //Vibration Motors Pins Defined
  16. //L
  17. const int g1 = 11;
  18. const int v1 = 10;
  19. //R
  20. const int v2 = 6;
  21. const int g2 = 7;
  22. //F
  23. const int v3 = 3;
  24. const int g3 = 2;
  25.  
  26. //Function for returning Distance in cms.
  27. long microsecondsToCentimeters(long microseconds)
  28. {
  29.   // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  30.   // The ping travels out and back, so to find the distance of the
  31.   // object we take half of the distance travelled.
  32.   return microseconds / 29 / 2;
  33. }
  34.  
  35. //Function for Activating vibration motors
  36. void activatemotors(int cm1,int cm2,int cm3)
  37. {
  38.    if(cm1<d)
  39.    {
  40.       analogWrite(v1, 150);
  41.    }
  42.    if(cm2<d)
  43.    {
  44.       analogWrite(v2, 150);
  45.    }
  46.    if(cm3<d)
  47.    {
  48.       analogWrite(v3, 150);
  49.    }
  50.    delay(250);
  51.    analogWrite(v1, 0);
  52.    analogWrite(v2, 0);
  53.    analogWrite(v3, 0);
  54.    
  55. }
  56.  
  57.  
  58.  
  59. void setup() {
  60.   // initialize serial communication:
  61.   Serial.begin(9600);
  62.  
  63.   //Defining Pins for Ultrasonic sensors
  64.   pinMode(trigPin1, OUTPUT);
  65.   pinMode(trigPin2, OUTPUT);
  66.   pinMode(trigPin3, OUTPUT);
  67.   pinMode(echoPin1, INPUT);
  68.   pinMode(echoPin2, INPUT);
  69.   pinMode(echoPin3, INPUT);
  70.  
  71.   //Defining pins for Vibration motors
  72.   pinMode(v1, OUTPUT);
  73.   pinMode(g1, OUTPUT);
  74.   pinMode(v2, OUTPUT);
  75.   pinMode(g2, OUTPUT);
  76.   pinMode(v3, OUTPUT);
  77.   pinMode(g3, OUTPUT);
  78.  
  79.   //Turning vibration Motors OFF initially
  80.   analogWrite(v1, 0);
  81.   digitalWrite(g1, LOW);
  82.   analogWrite(v2, 0);
  83.   digitalWrite(g2, LOW);
  84.   analogWrite(v3, 0);
  85.   digitalWrite(g3, LOW);
  86. }
  87.  
  88. void loop()
  89. {
  90.   // establish variables for duration of the ping,
  91.   // and the distance result in inches and centimeters:
  92.   long duration1,duration2,duration3, cm1,cm2,cm3;
  93.  
  94.   // The sensor is triggered by a HIGH pulse of 10 or more microseconds.
  95.   // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  96.  
  97.   digitalWrite(trigPin1, LOW);
  98.   delayMicroseconds(2);
  99.   digitalWrite(trigPin1, HIGH);
  100.   delayMicroseconds(10);
  101.   duration1 = pulseIn(echoPin1, HIGH);
  102.   cm1 = microsecondsToCentimeters(duration1);
  103.  
  104.  
  105.   digitalWrite(trigPin2, LOW);
  106.   delayMicroseconds(2);
  107.   digitalWrite(trigPin2, HIGH);
  108.   delayMicroseconds(10);
  109.   duration2 = pulseIn(echoPin2, HIGH);
  110.   cm2 = microsecondsToCentimeters(duration2);
  111.  
  112.  
  113.  
  114.   digitalWrite(trigPin3, LOW);
  115.   delayMicroseconds(2);
  116.   digitalWrite(trigPin3, HIGH);
  117.   delayMicroseconds(10);
  118.   duration3 = pulseIn(echoPin3, HIGH);
  119.   cm3 = microsecondsToCentimeters(duration3);
  120.  
  121.  
  122.   /*digitalWrite(trigPin1, LOW);
  123.   digitalWrite(trigPin2, LOW);
  124.   digitalWrite(trigPin3, LOW);
  125.  
  126.   // Read the signal from the sensor: a HIGH pulse whose
  127.   // duration is the time (in microseconds) from the sending
  128.   // of the ping to the reception of its echo off of an object.
  129.  
  130.  
  131.  
  132.  
  133.   // convert the time into a distance
  134.  
  135.   */
  136.  
  137.   Serial.print(cm1);
  138.   Serial.print("cm\t");
  139.   Serial.print(cm2);
  140.   Serial.print("cm\t");
  141.   Serial.print(cm3);
  142.   Serial.print("cm\t");
  143.   Serial.println();
  144.  
  145.   activatemotors(cm1,cm2,cm3);
  146. }
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