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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 = 30; // 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(5); | |
| 33 | } | |
| 34 | ||
| 35 | void loop() {
| |
| 36 | ||
| 37 | sensorState = digitalRead(sensorPin); | |
| 38 | // if the sensorState is HIGH: | |
| 39 | if (sensorState == HIGH) {//HIGH
| |
| 40 | digitalWrite(LEDPin, HIGH); | |
| 41 | fight(); | |
| 42 | } | |
| 43 | else {
| |
| 44 | digitalWrite(LEDPin, LOW); | |
| 45 | back(); | |
| 46 | delay(2); | |
| 47 | left(); | |
| 48 | delay(2); | |
| 49 | } | |
| 50 | ||
| 51 | } | |
| 52 | ||
| 53 | ||
| 54 | ||
| 55 | ||
| 56 | ||
| 57 | ||
| 58 | ||
| 59 | ||
| 60 | ||
| 61 | ||
| 62 | ||
| 63 | ||
| 64 | ||
| 65 | ||
| 66 | ||
| 67 | ||
| 68 | ||
| 69 | ||
| 70 | ||
| 71 | ||
| 72 | ||
| 73 | void stopM() {
| |
| 74 | analogWrite(ENA, 0); | |
| 75 | analogWrite(ENB, 0); | |
| 76 | } | |
| 77 | ||
| 78 | void right() {
| |
| 79 | digitalWrite(IN1, 0); | |
| 80 | digitalWrite(IN2, 1); | |
| 81 | digitalWrite(IN3, 0); | |
| 82 | digitalWrite(IN4, 1); | |
| 83 | analogWrite(ENA, 255); | |
| 84 | analogWrite(ENB, 255); | |
| 85 | } | |
| 86 | ||
| 87 | void left() {
| |
| 88 | digitalWrite(IN1, 1); | |
| 89 | digitalWrite(IN2, 0); | |
| 90 | digitalWrite(IN3, 1); | |
| 91 | digitalWrite(IN4, 0); | |
| 92 | analogWrite(ENA, 255); | |
| 93 | analogWrite(ENB, 255); | |
| 94 | } | |
| 95 | ||
| 96 | void front() {
| |
| 97 | digitalWrite(IN1, 1); | |
| 98 | digitalWrite(IN2, 0); | |
| 99 | digitalWrite(IN3, 0); | |
| 100 | digitalWrite(IN4, 1); | |
| 101 | analogWrite(ENA, 150); | |
| 102 | analogWrite(ENB, 150); | |
| 103 | } | |
| 104 | ||
| 105 | void back() {
| |
| 106 | digitalWrite(IN1, 0); | |
| 107 | digitalWrite(IN2, 1); | |
| 108 | digitalWrite(IN3, 1); | |
| 109 | digitalWrite(IN4, 0); | |
| 110 | analogWrite(ENA, 150); | |
| 111 | analogWrite(ENB, 150); | |
| 112 | } | |
| 113 | ||
| 114 | ||
| 115 | ||
| 116 | ||
| 117 | ||
| 118 | ||
| 119 | void fight() {
| |
| 120 | digitalWrite(trigPin, LOW); | |
| 121 | delayMicroseconds(2); | |
| 122 | ||
| 123 | digitalWrite(trigPin, HIGH); | |
| 124 | delayMicroseconds(10); | |
| 125 | digitalWrite(trigPin, LOW); | |
| 126 | duration = pulseIn(echoPin, HIGH); | |
| 127 | ||
| 128 | //Calculate the distance (in cm) based on the speed of sound. | |
| 129 | distance = duration / 58.2; | |
| 130 | ||
| 131 | if (distance <= maximumRange) {
| |
| 132 | /* Send a negative number to computer and Turn LED ON | |
| 133 | to indicate "out of range" */ | |
| 134 | //Serial.println(distance); | |
| 135 | digitalWrite(LEDPin, HIGH); | |
| 136 | front(); | |
| 137 | delay(2); | |
| 138 | } | |
| 139 | else {
| |
| 140 | /* Send the distance to the computer using Serial protocol, and | |
| 141 | turn LED OFF to indicate successful reading. */ | |
| 142 | //Serial.println(distance); | |
| 143 | digitalWrite(LEDPin, LOW); | |
| 144 | left(); | |
| 145 | delay(2); | |
| 146 | front(); | |
| 147 | delay(2); | |
| 148 | } | |
| 149 | //Delay 50ms before next reading. | |
| 150 | //delay(50); | |
| 151 | } |
