lapus/arduino_car
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Ultrasonic sensor

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This commit is contained in:
Denis Zheleztsov 2018-11-21 14:09:32 +03:00
parent f27e575974
commit d5a903242b
Signed by: Difrex
GPG Key ID: B047A0E62A285621
1 changed files with 71 additions and 19 deletions
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90
car.ino
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@ -1,20 +1,40 @@
/* Define you pins here */ /* Define your pins here */
/* Wheels */
const int left_wheel_1 = 0; const int left_wheel_1 = 0;
const int left_wheel_2 = 1; const int left_wheel_2 = 1;
const int right_wheel_1 = 2; const int right_wheel_1 = 2;
const int right_wheel_2 = 3; const int right_wheel_2 = 3;
/* Ultrasonic sensor */
const int sensor_echo = 9;
const int sensor_trigger = 10;
/* Debug serial output */
bool debug = true;
/* Array bellow contains all the wheels */
int wheels[] = {left_wheel_1, left_wheel_2, right_wheel_1, right_wheel_2};
/* The counter */ /* The counter */
int i; int i;
/* Array bellow contains all the wheels */ /* Ultrasonic sensor variables */
int Wheels[] = {left_wheel_1, left_wheel_2, right_wheel_1, right_wheel_2}; long duration;
int distance;
void setup() { void setup() {
/* Setup pins */ /* Setup pins */
for (i = 0; i < sizeof(Wheels) - 1; i++) { /* wheels */
pinMode(Wheels[i], OUTPUT); for (i = 0; i < sizeof(wheels) - 1; i++) {
pinMode(wheels[i], OUTPUT);
} }
/* Ultrasonic sensor */
pinMode(sensor_echo, INPUT);
pinMode(sensor_trigger, OUTPUT);
/* Starts serial communication */
Serial.begin(9600);
} }
/* Wheel actions */ /* Wheel actions */
@ -53,8 +73,8 @@ void move_backward() {
/* Stops */ /* Stops */
void stop_all() { void stop_all() {
for (i = 0; sizeof(Wheels) - 1; i++) { for (i = 0; sizeof(wheels) - 1; i++) {
digitalWrite(Wheels[i], LOW); digitalWrite(wheels[i], LOW);
} }
} }
@ -81,18 +101,50 @@ void turn_right(int delayMS) {
delay(delayMS); 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 */
if (debug) { debug_log("US", "Get echo duration"); }
duration = pulseIn(sensor_echo, HIGH);
/* Calculating the distance */
distance = duration / 58;
if (debug) {
debug_log("US", "Got distance!");
}
return distance;
}
/* Main code */ /* Main code */
void loop() { void loop() {
move_forward(); if (get_distance() > 25) {
delay(1000); move_forward();
turn_left(500); delay(1000);
move_backward(); } else {
delay(1000); turn_left(500);
turn_right(500); move_backward();
move_forward(); delay(1000);
turn_left(500); turn_right(500);
turn_left(500); }
turn_left(500);
move_forward();
delay(1000);
} }