vojta@ernie
166 lines
4.1 KiB
Arduino
166 lines
4.1 KiB
Arduino
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#include <Servo.h>
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#include <Servo.h>
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Servo myservo;
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int Echo_Pin=A0; // ultrasonic module ECHO to A0
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int Trig_Pin=A1; // ultrasonic module TRIG to A1
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#define Lpwm_pin 5 //pin of controlling speed---- ENA of motor driver board
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#define Rpwm_pin 6 //pin of controlling speed---- ENB of motor driver board
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int pinLB=2; //pin of controlling turning---- IN1 of motor driver board
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int pinLF=4; //pin of controlling turning---- IN2 of motor driver board
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int pinRB=7; //pin of controlling turning---- IN3 of motor driver board
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int pinRF=8; //pin of controlling turning---- IN4 of motor driver board
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volatile int D_mix;
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volatile int D_mid;
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volatile int D_max;
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volatile int Front_Distance;
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volatile int Left_Distance;
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volatile int Right_Distance;
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volatile int Right_IR_Value;
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volatile int Left_IR_Value;
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float checkdistance() {
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digitalWrite(Trig_Pin, LOW);
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delayMicroseconds(2);
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digitalWrite(Trig_Pin, HIGH);
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delayMicroseconds(10);
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digitalWrite(Trig_Pin, LOW);
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float distance = pulseIn(Echo_Pin, HIGH) / 58.00;
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delay(10);
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return distance;
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}
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void Detect_Left_and_Right__distance() {
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myservo.write(180);
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delay(400);
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Left_Distance = checkdistance();
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delay(600);
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Serial.print("Left_Distance:");
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Serial.println(Left_Distance);
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myservo.write(0);
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delay(400);
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Right_Distance = checkdistance();
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delay(600);
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Serial.print("Right_Distance:");
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Serial.println(Right_Distance);
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myservo.write(90);
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}
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void Ultrasonic_obstacle_avoidance()
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{
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Front_Distance=checkdistance(); //obtain the value detected by ultrasonic sensor
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if((Front_Distance < 20)&&(Front_Distance > 0)) {
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stopp();//stop
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delay(100);
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myservo.write(180);
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delay(500);
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Left_Distance=checkdistance();//measure the distance
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delay(100);
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myservo.write(0);
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delay(500);
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Right_Distance=checkdistance();//measure the distance
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delay(100);
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if(Left_Distance > Right_Distance) {
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rotate_left(150);//turn left
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myservo.write(90);
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delay(300);
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}
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else {
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rotate_right(150);// turn right
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myservo.write(90);
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delay(300);
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}
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}
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else {
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go_forward(100);//go forward
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}
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}
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void Obstacle_Avoidance_Main()
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{
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Ultrasonic_obstacle_avoidance();
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}
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void setup(){
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myservo.attach(A2);
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Serial.begin(9600);
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D_mix = 10;
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D_mid = 20;
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D_max = 100;
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Front_Distance = 0;
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Left_Distance = 0;
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Right_Distance = 0;
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myservo.write(90);
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pinMode(Echo_Pin, INPUT);
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pinMode(Trig_Pin, OUTPUT);
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pinMode(pinLB,OUTPUT); // /pin 2
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pinMode(pinLF,OUTPUT); // pin 4
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pinMode(pinRB,OUTPUT); // pin 7
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pinMode(pinRF,OUTPUT); // pin 8
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pinMode(Lpwm_pin,OUTPUT); // pin 5 (PWM)
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pinMode(Rpwm_pin,OUTPUT); // pin 6(PWM)
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}
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void loop(){
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Obstacle_Avoidance_Main();
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}
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void go_forward(unsigned char speed_val) // speed_val：0~255
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{digitalWrite(pinRB,HIGH);
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digitalWrite(pinRF,LOW);
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digitalWrite(pinLB,HIGH);
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digitalWrite(pinLF,LOW);
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analogWrite(Lpwm_pin,speed_val+5);
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analogWrite(Rpwm_pin,speed_val+8);
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}
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void go_backward(unsigned char speed_val) // speed_val：0~255
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{
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digitalWrite(pinRB,LOW);
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digitalWrite(pinRF,HIGH);
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digitalWrite(pinLB,LOW);
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digitalWrite(pinLF,HIGH);
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analogWrite(Lpwm_pin,speed_val);
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analogWrite(Rpwm_pin,speed_val);
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}
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void rotate_left(unsigned char speed_val) // speed_val：0~255
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{digitalWrite(pinRB,HIGH);
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digitalWrite(pinRF,LOW );
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digitalWrite(pinLB,LOW);
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digitalWrite(pinLF,HIGH);
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analogWrite(Lpwm_pin,speed_val);
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analogWrite(Rpwm_pin,speed_val);
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}
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void rotate_right(unsigned char speed_val) // speed_val：0~255
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{
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digitalWrite(pinRB,LOW);
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digitalWrite(pinRF,HIGH);
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digitalWrite(pinLB,HIGH);
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digitalWrite(pinLF,LOW);
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analogWrite(Lpwm_pin,speed_val);
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analogWrite(Rpwm_pin,speed_val);
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}
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void stopp() //stop
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{
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digitalWrite(pinRB,HIGH);
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digitalWrite(pinRF,HIGH);
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digitalWrite(pinLB,HIGH);
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digitalWrite(pinLF,HIGH);
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}
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