Controle Ultrasonico Arduino.pde

#include <Ultrasonic.h>

#define TRIGGER_PIN  12
#define ECHO_PIN     11

// motor um
int enA = 5;
int in1 = 6;
int in2 = 7;
// motor dois
int enB = 10;
int in3 = 8;
int in4 = 9;

Ultrasonic ultrasonic(TRIGGER_PIN, ECHO_PIN);

void setup()
{
  Serial.begin(9600);
  pinMode(13, OUTPUT);
  
  // saidas dos motores
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
}

int liga_motores(int a = 0, int b = 0, int c = 0, int d = 0){
  digitalWrite(in1, a);
  digitalWrite(in2, b);
  digitalWrite(in3, c);
  digitalWrite(in4, d);
}

void loop()
{
  float cmMsec;
  long microsec = ultrasonic.timing();
  cmMsec = ultrasonic.convert(microsec, Ultrasonic::CM);
  
  int vel;
  int ultrasonico = int(cmMsec) ;
  liga_motores(1, 0, 1, 0);
  
  if(cmMsec > 100.00){
    vel = 255;
  } else if(cmMsec < 10.00){
    vel = 0;
  } else  {
    vel = map(ultrasonico, 10, 100, 0, 255);
  }
  
  analogWrite(enA, vel);
  analogWrite(enB, vel);
  
  delay(500);
}