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Program

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8 views5 pages

Program

Report file

Uploaded by

dm4210107
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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PROGRAM

#include <AFMotor.h>

#include <NewPing.h>

#include <Servo.h>

#define TRIG_PIN A0

#define ECHO_PIN A1

#define MAX_DISTANCE 200

#define MAX_SPEED 190 // sets speed of DC motors

#define REDUCED_SPEED 100 // New reduced speed for the motors

#define MAX_SPEED_OFFSET 20

NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);

AF_DCMotor motor1(1, MOTOR12_1KHZ);

AF_DCMotor motor2(2, MOTOR12_1KHZ);

AF_DCMotor motor3(3, MOTOR34_1KHZ);

AF_DCMotor motor4(4, MOTOR34_1KHZ);

Servo myservo;

boolean goesForward = false;

int distance = 100;

int speedSet = 0;

void setup() {

myservo.a ach(10);

myservo.write(115);

delay(2000);

distance = readPing();

delay(100);

distance = readPing();

delay(100);

distance = readPing();

delay(100);

distance = readPing();
PROGRAM
delay(100);

void loop() {

int distanceR = 0;

int distanceL = 0;

delay(40);

if (distance <= 15) {

moveStop();

delay(100);

moveBackward();

delay(300);

moveStop();

delay(200);

distanceR = lookRight();

delay(200);

distanceL = lookLe ();

delay(200);

if (distanceR >= distanceL) {

turnRight();

moveStop();

} else {

turnLe ();

moveStop();

} else {

moveForward();

distance = readPing();

}
PROGRAM
int lookRight() {

myservo.write(50);

delay(500);

int distance = readPing();

delay(100);

myservo.write(115);

return distance;

int lookLe () {

myservo.write(170);

delay(500);

int distance = readPing();

delay(100);

myservo.write(115);

return distance;

int readPing() {

delay(70);

int cm = sonar.ping_cm();

if (cm == 0) {

cm = 250;

return cm;

void moveStop() {

motor1.run(RELEASE);

motor2.run(RELEASE);

motor3.run(RELEASE);

motor4.run(RELEASE);

}
PROGRAM

void moveForward() {

if (!goesForward) {

goesForward = true;

motor1.run(FORWARD);

motor2.run(FORWARD);

motor3.run(FORWARD);

motor4.run(FORWARD);

for (speedSet = 0; speedSet < REDUCED_SPEED; speedSet += 2) { // Use REDUCED_SPEED instead of


MAX_SPEED

motor1.setSpeed(speedSet);

motor2.setSpeed(speedSet);

motor3.setSpeed(speedSet);

motor4.setSpeed(speedSet);

delay(5);

void moveBackward() {

goesForward = false;

motor1.run(BACKWARD);

motor2.run(BACKWARD);

motor3.run(BACKWARD);

motor4.run(BACKWARD);

for (speedSet = 0; speedSet < REDUCED_SPEED; speedSet += 2) { // Use REDUCED_SPEED instead of


MAX_SPEED

motor1.setSpeed(speedSet);

motor2.setSpeed(speedSet);

motor3.setSpeed(speedSet);

motor4.setSpeed(speedSet);

delay(5);

}
PROGRAM

void turnRight() {

motor1.run(FORWARD);

motor2.run(FORWARD);

motor3.run(BACKWARD);

motor4.run(BACKWARD);

delay(500);

motor1.run(FORWARD);

motor2.run(FORWARD);

motor3.run(FORWARD);

motor4.run(FORWARD);

void turnLe () {

motor1.run(BACKWARD);

motor2.run(BACKWARD);

motor3.run(FORWARD);

motor4.run(FORWARD);

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