lapus/arduino_car
lapus/arduino_car
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Use the sensor library

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This commit is contained in:
Denis Zheleztsov 2018-11-21 14:40:08 +03:00
parent e30e0aebf1
commit 0e3064ac3d
Signed by: Difrex
GPG Key ID: B047A0E62A285621
1 changed files with 10 additions and 40 deletions
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50
car.ino
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@ -1,3 +1,5 @@
#include <hcsr04.h>
/* Define your pins here */
/* Wheels */
const int left_wheel_1 = 0;
@ -9,8 +11,7 @@ const int right_wheel_2 = 3;
const int sensor_echo = 9;
const int sensor_trigger = 10;
/* Debug serial output */
bool debug = true;
HCSR04 hcsr04(sensor_trigger, sensor_echo, 20, 4000);
/* Array bellow contains all the wheels */
int wheels[] = {left_wheel_1, left_wheel_2, right_wheel_1, right_wheel_2};
@ -18,6 +19,8 @@ int wheels[] = {left_wheel_1, left_wheel_2, right_wheel_1, right_wheel_2};
/* The counter */
int i;
int mm;
/* Ultrasonic sensor variables */
long duration;
int distance;
@ -41,108 +44,75 @@ void setup() {
/* Forward */
void move_forward_wheel_left() {
if (debug) { debug_log("WH", "Move forward left wheel"); }
digitalWrite(left_wheel_1, HIGH);
digitalWrite(left_wheel_2, LOW);
}
void move_forward_wheel_right() {
if (debug) { debug_log("WH", "Move forward right wheel"); }
digitalWrite(right_wheel_1, HIGH);
digitalWrite(right_wheel_2, LOW);
}
void move_forward() {
if (debug) { debug_log("WH", "Move forward"); }
move_forward_wheel_left();
move_forward_wheel_right();
}
/* Backward */
void move_backward_wheel_left() {
if (debug) { debug_log("WH", "Move backward left wheel"); }
digitalWrite(left_wheel_1, LOW);
digitalWrite(left_wheel_2, HIGH);
}
void move_backward_wheel_right() {
if (debug) { debug_log("WH", "Move backward right wheel"); }
digitalWrite(right_wheel_1, LOW);
digitalWrite(right_wheel_2, HIGH);
}
void move_backward() {
if (debug) { debug_log("WH", "Move backward"); }
move_backward_wheel_left();
move_backward_wheel_right();
}
/* Stops */
void stop_all() {
if (debug) { debug_log("WH", "Stop the wheels"); }
for (i = 0; sizeof(wheels) - 1; i++) {
digitalWrite(wheels[i], LOW);
}
}
void stop_left() {
if (debug) { debug_log("WH", "Stop left wheel"); }
digitalWrite(left_wheel_1, LOW);
digitalWrite(left_wheel_2, LOW);
}
void stop_right() {
if (debug) { debug_log("WH", "Stop right wheel"); }
digitalWrite(right_wheel_1, LOW);
digitalWrite(right_wheel_2, LOW);
}
/* Turns */
void turn_left(int delayMS) {
if (debug) { debug_log("WH", "Turn left"); }
stop_left();
move_forward_wheel_right();
delay(delayMS);
}
void turn_right(int delayMS) {
if (debug) { debug_log("WH", "Turn right"); }
stop_right();
move_forward_wheel_left();
delay(delayMS);
}
/* Helpers */
void debug_log(char tag, char message) {
Serial.print("[");
Serial.print(tag);
Serial.print("] ");
Serial.println(message);
}
/* Ultrasonic sensor actions */
/* get_distance -- returns distance to an object in centimeters */
int get_distance() {
/* Clears the trigger */
if (debug) { debug_log("US", "Clear the trigger"); }
digitalWrite(sensor_trigger, LOW);
delayMicroseconds(2);
/* Set the trigger on HIGH state for 10 microseconds */
if (debug) { debug_log("US", "Set trigger HIGH"); }
digitalWrite(sensor_trigger, HIGH);
delayMicroseconds(10);
digitalWrite(sensor_trigger, LOW);
/* Reads the echo, returns the sound wave travel in microseconds */
duration = pulseIn(sensor_echo, HIGH);
if (debug) { debug_log("US", "Get echo duration"); }
/* Calculating the distance */
distance = duration / 58;
if (debug) { debug_log("US", "Got distance!"); }
return distance;
mm = hcsr04.distanceInMillimeters();
if (mm > 0) {
return mm / 10;
}
return 0;
}
/* Main code */