AutonomusParkingCar
5 years ago
1 changed files with 0 additions and 68 deletions
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#include <Wire.h> |
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#include <Adafruit_MotorShield.h> |
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#include "utility/Adafruit_MS_PWMServoDriver.h" |
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#define trigPin A1 |
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#define echoPin A0 |
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// Create the motor shield object with the default I2C address
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Adafruit_MotorShield AFMS = Adafruit_MotorShield(); |
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// Select which 'port' M1, M2, M3 or M4. In this case, M1
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Adafruit_DCMotor *myMotor = AFMS.getMotor(1); |
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Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2); |
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Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3); |
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Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4); |
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void setup() { |
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Serial.begin(9600); // set up Serial library at 9600 bps
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Serial.println("Adafruit Motorshield v2 - DC Motor test!"); |
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pinMode(trigPin, OUTPUT); |
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pinMode(echoPin, INPUT); |
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AFMS.begin(); // create with the default frequency 1.6KHz
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Serial.println("AFMS began."); //not reaching here
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// Set the speed to start, from 0 (off) to 255 (max speed)
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myMotor->setSpeed(100); |
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myMotor->run(FORWARD); |
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myMotor2->setSpeed(100); |
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myMotor2->run(BACKWARD); |
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myMotor3->setSpeed(100); |
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myMotor3->run(BACKWARD); |
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myMotor4->setSpeed(100); |
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myMotor4->run(FORWARD); |
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} |
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void loop() { |
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long duration, distance; |
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digitalWrite(trigPin, LOW); // Added this line
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delayMicroseconds(2); // Added this line
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digitalWrite(trigPin, HIGH); |
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delayMicroseconds(10); // Added this line
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digitalWrite(trigPin, LOW); |
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duration = pulseIn(echoPin, HIGH); |
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distance = duration *0.034/2; |
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if (distance <= 5){ |
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myMotor ->run(RELEASE); |
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myMotor2->run(RELEASE); |
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myMotor3->run(RELEASE); |
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myMotor4->run(RELEASE); |
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} |
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else { |
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Serial.print(distance); |
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Serial.println(" cm"); |
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myMotor->run(FORWARD); |
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myMotor2->run(BACKWARD); |
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myMotor3->run(BACKWARD); |
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myMotor4->run(FORWARD); |
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myMotor ->setSpeed(100); |
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myMotor2->setSpeed(100); |
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myMotor3->setSpeed(100); |
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myMotor4->setSpeed(100); |
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} |
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} |
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