whyisjake · April 10, 2012 20:35 · user405 · May 26, 2014 · leem888 · Jun 25, 2014
diff --git a/arduino_robot b/arduino_robot
 /* 
 Original code by Nick Brenn
 Modiﬁed by Marc de Vinck
 Make Projects Arduino-based 4WD robot
 http://makeprojects.com/Project/Build-your-own-Arduino-Controlled-Robot-/577/1 
 */
 #include <AFMotor.h> 
 AF_DCMotor motor1(1, MOTOR12_8KHZ); 
 AF_DCMotor motor2(2, MOTOR12_8KHZ); 
 AF_DCMotor motor3(3, MOTOR12_1KHZ); 
 AF_DCMotor motor4(4, MOTOR12_1KHZ); 
 const int pingPin = 19; 
 // ------------------------------------------------------------------------------
 void setup() 
 { 
 Serial.begin(9600);                 // set up Serial library at 9600 bps 
 motor1.setSpeed(200);               // Sets the speed for all the motors 1 - 4 (255 is the 
 maximum speed)      
 motor2.setSpeed(200); 
 motor3.setSpeed(200); 
 motor4.setSpeed(200); 
 } 
 // ------------------------------------------------------------------------------
 ﬂoat ping ()                       // This is the code that runs the PING ))) Sensor 
 { 
 long duration, inches; 
 pinMode(pingPin, OUTPUT); 
 digitalWrite(pingPin, LOW); 
 delayMicroseconds(2); 
 digitalWrite(pingPin, HIGH); 
 delayMicroseconds(5); 
 digitalWrite(pingPin, LOW); 
 pinMode(pingPin, INPUT); 
 duration = pulseIn(pingPin, HIGH);  
 long microsecondsToInches(long microseconds);
 inches = microsecondsToInches(duration); 
 return inches; 
 } // ------------------------------------------------------------------------------
 void forward()                    // This function moves all the wheels forward 
 { 
 motor1.run(FORWARD); 
 motor2.run(FORWARD); 
 motor3.run(FORWARD); 
 motor4.run(FORWARD); 
 } 
 // ------------------------------------------------------------------------------
 void backward()                    // This function moves all the wheels backwards 
 {     
 motor1.run(BACKWARD); 
 motor2.run(BACKWARD); 
 motor3.run(BACKWARD); 
 motor4.run(BACKWARD); 
 } 
 // ------------------------------------------------------------------------------
 void haltMotors()                   // This function stops all the motors (It is better to stop 
 the motors before changing direction) 
 { 
 motor1.run(RELEASE); 
 motor2.run(RELEASE); 
 motor3.run(RELEASE); 
 motor4.run(RELEASE);
 } 
 // ------------------------------------------------------------------------------
 void turnRight()                    // This function turns the robot right
 {
 motor1.run(FORWARD); 
 motor2.run(BACKWARD); 
 motor3.run(FORWARD); 
 motor4.run(BACKWARD); 
 } 
 // ------------------------------------------------------------------------------
 void loop() {                         // This is the main program that will run over and over
 long duration, inches;                // Declare the variables "duration" and "inches"duration = pulseIn(pingPin, HIGH); 
 inches = ping();                      // Set the inches variable to the ﬂoat returned by the 
 ping() function. 
 Serial.print(inches);
 Serial.print("in, ");
 Serial.println();
  
 while (inches >8){                    // While the robot is 8 inches away from an object. 
 inches = ping(); 
 forward();                            // Move the robot forward. 
  } 
 haltMotors();                         // Stop the motors for 2 seconds, before changing 
 direction. 
 delay(1000);             
 while (inches < 10){                  // Until the robot is 10 inches away from the object, go 
 backward. 
 inches = ping(); 
 backward();                           // Move the robot backward. 
 } 
 turnRight();                          // Once the robot is done moving backward, turn the robot 
 right. 
 delay(1500);                          // Note!  Change this value (greater or smaller) to adjust 
 how much the robot turns right 
 haltMotors(); 
 delay(1000); 
 } 
 long microsecondsToInches(long microseconds){ 
 return microseconds / 74 / 2; 
 }
	/*
	Original code by Nick Brenn
	Modiﬁed by Marc de Vinck
	Make Projects Arduino-based 4WD robot
	http://makeprojects.com/Project/Build-your-own-Arduino-Controlled-Robot-/577/1
	*/
	#include <AFMotor.h>
	AF_DCMotor motor1(1, MOTOR12_8KHZ);
	AF_DCMotor motor2(2, MOTOR12_8KHZ);
	AF_DCMotor motor3(3, MOTOR12_1KHZ);
	AF_DCMotor motor4(4, MOTOR12_1KHZ);
	const int pingPin = 19;
	// ------------------------------------------------------------------------------
	void setup()
	{
	Serial.begin(9600); // set up Serial library at 9600 bps
	motor1.setSpeed(200); // Sets the speed for all the motors 1 - 4 (255 is the
	maximum speed)
	motor2.setSpeed(200);
	motor3.setSpeed(200);
	motor4.setSpeed(200);
	}
	// ------------------------------------------------------------------------------
	ﬂoat ping () // This is the code that runs the PING ))) Sensor
	{
	long duration, inches;
	pinMode(pingPin, OUTPUT);
	digitalWrite(pingPin, LOW);
	delayMicroseconds(2);
	digitalWrite(pingPin, HIGH);
	delayMicroseconds(5);
	digitalWrite(pingPin, LOW);
	pinMode(pingPin, INPUT);
	duration = pulseIn(pingPin, HIGH);
	long microsecondsToInches(long microseconds);
	inches = microsecondsToInches(duration);
	return inches;
	} // ------------------------------------------------------------------------------
	void forward() // This function moves all the wheels forward
	{
	motor1.run(FORWARD);
	motor2.run(FORWARD);
	motor3.run(FORWARD);
	motor4.run(FORWARD);
	}
	// ------------------------------------------------------------------------------
	void backward() // This function moves all the wheels backwards
	{
	motor1.run(BACKWARD);
	motor2.run(BACKWARD);
	motor3.run(BACKWARD);
	motor4.run(BACKWARD);
	}
	// ------------------------------------------------------------------------------
	void haltMotors() // This function stops all the motors (It is better to stop
	the motors before changing direction)
	{
	motor1.run(RELEASE);
	motor2.run(RELEASE);
	motor3.run(RELEASE);
	motor4.run(RELEASE);
	}
	// ------------------------------------------------------------------------------
	void turnRight() // This function turns the robot right
	{
	motor1.run(FORWARD);
	motor2.run(BACKWARD);
	motor3.run(FORWARD);
	motor4.run(BACKWARD);
	}
	// ------------------------------------------------------------------------------
	void loop() { // This is the main program that will run over and over
	long duration, inches; // Declare the variables "duration" and "inches"duration = pulseIn(pingPin, HIGH);
	inches = ping(); // Set the inches variable to the ﬂoat returned by the
	ping() function.
	Serial.print(inches);
	Serial.print("in, ");
	Serial.println();

	while (inches >8){ // While the robot is 8 inches away from an object.
	inches = ping();
	forward(); // Move the robot forward.
	}
	haltMotors(); // Stop the motors for 2 seconds, before changing
	direction.
	delay(1000);
	while (inches < 10){ // Until the robot is 10 inches away from the object, go
	backward.
	inches = ping();
	backward(); // Move the robot backward.
	}
	turnRight(); // Once the robot is done moving backward, turn the robot
	right.
	delay(1500); // Note! Change this value (greater or smaller) to adjust
	how much the robot turns right
	haltMotors();
	delay(1000);
	}
	long microsecondsToInches(long microseconds){
	return microseconds / 74 / 2;
	}