Scribd
Upload
5 views2 pages

Sensor Ob Stacu Los

This document contains an Arduino sketch for controlling a robot using ultrasonic distance sensing. The robot moves forward until an obstacle is detected within 20 cm, at which point it stops and moves backward. The code includes functions for reading distance, moving forward, moving backward, and stopping the motors.

Uploaded by

cobaq
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
5 views2 pages

Sensor Ob Stacu Los

This document contains an Arduino sketch for controlling a robot using ultrasonic distance sensing. The robot moves forward until an obstacle is detected within 20 cm, at which point it stops and moves backward. The code includes functions for reading distance, moving forward, moving backward, and stopping the motors.

Uploaded by

cobaq
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
You are on page 1/ 2

#include <NewPing.

h>
#define TRIG_PIN A0
#define ECHO_PIN A1
#define MAX_DISTANCE 200
#define MAX_SPEED 190 // sets speed of DC motors
#define MAX_SPEED_OFFSET 20
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);

boolean goesForward=false;
int distance = 100;
int speedSet = 0;

int IN1 = 7; //motor B


int IN2 = 6; //motor B
int IN3 = 5; //motor A
int IN4 = 4; //motor A

void setup( ){
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);

pinMode (IN1, OUTPUT); // Input1 conectada al pin 7 motor B


pinMode (IN2, OUTPUT); // Input2 conectada al pin 6 motor B
pinMode (IN4, OUTPUT); // Input4 conectada al pin 4 motor A
pinMode (IN3, OUTPUT); // Input3 conectada al pin 5 motor A
}
void loop(){
if(distance<=20)
{
moveStop();
delay(100);
moveBackward();
delay(300);
moveStop();
delay(200);
}
else
{
moveForward();
}
distance = readPing();
}
int readPing() {
delay(70);
int cm = sonar.ping_cm();
if(cm==0)
{
cm = 250;
}
return cm;
}

void moveStop() {
digitalWrite (IN4, LOW);
digitalWrite (IN2, LOW);
digitalWrite (IN3, LOW);
digitalWrite (IN1, LOW);
}

void moveForward() {
if(!goesForward)
{
goesForward=true;
digitalWrite (IN3, HIGH);
digitalWrite (IN1, HIGH);
delay(5);
}
}

void moveBackward() {
goesForward=false;
digitalWrite (IN4, HIGH);
digitalWrite (IN2, HIGH);
delay(5);
}

You might also like