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1 | #define sensorPin 4//3 // the number of the sensor pin | |
2 | int sensorState = 0; // variable for reading the sensor status | |
3 | ||
4 | #define echoPin 11//7 // Echo Pin | |
5 | #define trigPin 12//8 // Trigger Pin | |
6 | int maximumRange = 20; // Maximum range needed | |
7 | long duration, distance; // Duration used to calculate distance | |
8 | ||
9 | ||
10 | #define LEDPin 13 // Onboard LED | |
11 | ||
12 | int IN1 = 5; | |
13 | int IN2 = 6; | |
14 | int IN3 = 7; | |
15 | int IN4 = 8; | |
16 | int ENA = 9; | |
17 | int ENB = 10; | |
18 | ||
19 | void setup() { | |
20 | //Serial.begin (9600); | |
21 | delay(5000); | |
22 | for (int i = 5; i < 11; i ++) | |
23 | { | |
24 | pinMode(i, OUTPUT); | |
25 | } | |
26 | pinMode(trigPin, OUTPUT); | |
27 | pinMode(echoPin, INPUT); | |
28 | pinMode(sensorPin, INPUT); | |
29 | pinMode(LEDPin, OUTPUT); // Use LED indicator (if required) | |
30 | ||
31 | front(); | |
32 | delay(300); | |
33 | } | |
34 | ||
35 | void loop() { | |
36 | ||
37 | sensorState = digitalRead(sensorPin); | |
38 | // if the sensorState is HIGH: | |
39 | if (sensorState == HIGH) { | |
40 | digitalWrite(LEDPin, HIGH); | |
41 | fight(); | |
42 | } | |
43 | else { | |
44 | digitalWrite(LEDPin, LOW); | |
45 | back(); | |
46 | delay(200); | |
47 | left(); | |
48 | delay(500); | |
49 | //stopM(); | |
50 | //delay(250); | |
51 | } | |
52 | /* | |
53 | if (black() == 0) { | |
54 | //digitalWrite(LEDPin, HIGH); | |
55 | right(); | |
56 | delay(250); | |
57 | front(); | |
58 | delay(250); | |
59 | fight(); | |
60 | } else if (black() == 1) { | |
61 | digitalWrite(LEDPin, LOW); | |
62 | back(); | |
63 | delay(250); | |
64 | left(); | |
65 | delay(250); | |
66 | stopM(); | |
67 | delay(250); | |
68 | }*/ | |
69 | ||
70 | } | |
71 | ||
72 | ||
73 | ||
74 | ||
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79 | ||
80 | ||
81 | ||
82 | ||
83 | ||
84 | ||
85 | ||
86 | ||
87 | ||
88 | ||
89 | ||
90 | ||
91 | ||
92 | void stopM() { | |
93 | analogWrite(ENA, 0); | |
94 | analogWrite(ENB, 0); | |
95 | } | |
96 | ||
97 | void front() { //left | |
98 | digitalWrite(IN1, 0); | |
99 | digitalWrite(IN2, 1); | |
100 | digitalWrite(IN3, 0); | |
101 | digitalWrite(IN4, 1); | |
102 | analogWrite(ENA, 255); | |
103 | analogWrite(ENB, 255); | |
104 | } | |
105 | ||
106 | void back() { //right | |
107 | digitalWrite(IN1, 1); | |
108 | digitalWrite(IN2, 0); | |
109 | digitalWrite(IN3, 1); | |
110 | digitalWrite(IN4, 0); | |
111 | analogWrite(ENA, 255); | |
112 | analogWrite(ENB, 255); | |
113 | } | |
114 | ||
115 | void right() { //back | |
116 | digitalWrite(IN1, 1); | |
117 | digitalWrite(IN2, 0); | |
118 | digitalWrite(IN3, 0); | |
119 | digitalWrite(IN4, 1); | |
120 | analogWrite(ENA, 150); | |
121 | analogWrite(ENB, 150); | |
122 | } | |
123 | ||
124 | void left() { //front | |
125 | digitalWrite(IN1, 0); | |
126 | digitalWrite(IN2, 1); | |
127 | digitalWrite(IN3, 1); | |
128 | digitalWrite(IN4, 0); | |
129 | analogWrite(ENA, 150); | |
130 | analogWrite(ENB, 150); | |
131 | } | |
132 | ||
133 | ||
134 | ||
135 | ||
136 | ||
137 | ||
138 | void fight() { | |
139 | digitalWrite(trigPin, LOW); | |
140 | delayMicroseconds(2); | |
141 | ||
142 | digitalWrite(trigPin, HIGH); | |
143 | delayMicroseconds(10); | |
144 | digitalWrite(trigPin, LOW); | |
145 | duration = pulseIn(echoPin, HIGH); | |
146 | ||
147 | //Calculate the distance (in cm) based on the speed of sound. | |
148 | distance = duration / 58.2; | |
149 | ||
150 | if (distance <= maximumRange) { | |
151 | /* Send a negative number to computer and Turn LED ON | |
152 | to indicate "out of range" */ | |
153 | //Serial.println(distance); | |
154 | digitalWrite(LEDPin, HIGH); | |
155 | front(); | |
156 | delay(200); | |
157 | } | |
158 | else { | |
159 | /* Send the distance to the computer using Serial protocol, and | |
160 | turn LED OFF to indicate successful reading. */ | |
161 | //Serial.println(distance); | |
162 | digitalWrite(LEDPin, LOW); | |
163 | left(); | |
164 | delay(500); | |
165 | } | |
166 | //Delay 50ms before next reading. | |
167 | //delay(5); | |
168 | } |