arduino car 01

gistfile1.txt

/***************************/
/* simple root car         */
/***************************/

// engine part from 
// http://www.instructables.com/id/Control-DC-and-stepper-motors-with-L298N-Dual-Moto/?ALLSTEPS
// sndor part from 
// http://www.instructables.com/id/Simple-Arduino-and-HC-SR04-Example/?ALLSTEPS

/*
 HC-SR04 Ping distance sensor]
 VCC to arduino 5v GND to arduino GND
 Echo to Arduino pin 13 Trig to Arduino pin 12
 */

// Sensors
#define trigPinA 13
#define echoPinA 12
#define trigPinB 3
#define echoPinB 2

// Engines
// connect motor controller pins to Arduino digital pins
// motor one
int enA = 10;
int in1 = 9;
int in2 = 8;
// motor two
int enB = 5;
int in3 = 7;
int in4 = 6;

const int min_dist = 20;
const int slowdown_dist=50;
const int speedA=180;
const int speedB=250;

boolean direction;

long dist(short trig, short echo) {
  digitalWrite(trig, LOW);  // Added this line
  delayMicroseconds(2); // Added this line
  digitalWrite(trig, HIGH);
  delayMicroseconds(10); // Added this line
  digitalWrite(trig, LOW);

  const long duration = pulseIn(echo, HIGH);
  const long distance = (duration/2) / 29.1;
  return distance;
}

void set_direction(boolean set_engine_dir) {
  // turn on motor A
  if (set_engine_dir) {
    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
  } else {
    digitalWrite(in2, HIGH);
    digitalWrite(in1, LOW);
    digitalWrite(in4, HIGH);
    digitalWrite(in3, LOW);
  }
}


void setup() {
  Serial.begin (9600);
  pinMode(trigPinA, OUTPUT);
  pinMode(echoPinA, INPUT);
  pinMode(trigPinB, OUTPUT);
  pinMode(echoPinB, INPUT);

  // set all the motor control pins to outputs
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  
  direction=false;
  set_direction(direction);
  analogWrite(enA, speedA);
  analogWrite(enB, speedB);
}

void loop() {
  //  long duration, distance;
  const long dA = dist(trigPinA,echoPinA);
  Serial.print("Side A distance:");
  Serial.print(dA);
  Serial.println(" cm");

  const long dB = dist(trigPinB,echoPinB);
  Serial.print("Side B distance:");
  Serial.print(dB);
  Serial.println(" cm");

  if ((direction && (dA<slowdown_dist)) || ((!direction) && (dB<slowdown_dist))) {
      analogWrite(enA, speedA / 2);
      analogWrite(enB, speedB / 2);
      Serial.println("Slow");    
  } else {    
    Serial.println("Full Speed");    
    analogWrite(enA, speedA);
    analogWrite(enB, speedB);    
  }
 
  if ((dA<min_dist) and (dB<min_dist)) {
      analogWrite(enA, 0);
      analogWrite(enB, 0);
      Serial.println("Stop");   
  }

 
  if ((direction && (dA<min_dist)) || ((!direction) && (dB<min_dist))) {
    direction = (!direction);
    set_direction(direction);
    delay(200);
  }
  
  
  if (direction) {
    Serial.println("Diraction A");
  }
  else {
   Serial.println("Diraction B");
  }
  
  delay(100);
}