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Motorz.h

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+#ifndef _MOTORZ_H  // not #ifnotdef
+#define _MOTORZ_H
+
+class Motorz
+{
+  private:
+  int motor_speed=0;
+  int enable,in1,in2,dir;
+  public:
+
+    Motorz(int Enb,int ina,int inb){
+      enable=Enb;
+      in1=ina;
+      in2=inb;
+      pinMode(enable,OUTPUT);
+      pinMode(in1,OUTPUT);
+      pinMode(in2,OUTPUT);
+    }  
+    Motorz(int Enb,int ina,int inb,int d){
+      enable=Enb;
+      in1=ina;
+      in2=inb;
+      dir=d;
+      pinMode(enable,OUTPUT);
+      pinMode(in1,OUTPUT);
+      pinMode(in2,OUTPUT);
+      Direction();
+    }
+    void SetSpeed(int Mspeed){
+      motor_speed=Mspeed;
+    }
+    int GetSpeed(){
+      return motor_speed;
+    }
+    void SetEnable(int pin){
+      enable=pin;
+    }
+    int GetEnable(){
+      return enable;
+    }
+    void SetInput1(int pin){
+      in1=pin;
+    }
+    int GetInput1(){
+      return in1;
+    }
+    void SetInput2(int pin){
+      in2=pin;
+    }
+    int GetInput2(){
+      return in2;
+    }
+    void SetDirection(int a){
+      dir=a;
+    }
+    int GetDirection(){
+      return dir;
+    }
+    void ChangeDir(){
+      if(dir==0){
+         dir=1;
+      }
+      else{
+         dir=0;
+      }
+    }
+    void Start(){
+      this->Direction();
+      analogWrite(enable,motor_speed);
+      }
+    void Stop(){
+         this->Halt();
+      }
+   private:
+    void Direction(){
+      if(dir==0){
+        digitalWrite(in1,HIGH);
+        digitalWrite(in2,LOW);
+      }
+      else{
+        digitalWrite(in1,LOW);
+        digitalWrite(in2,HIGH);
+      }
+    }
+    void Halt(){
+       digitalWrite(in1,LOW);
+       digitalWrite(in2,LOW);
+    }
+    
+};
+#endif _MOTOR_H

motortest_first.ino

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+ 
+#include "Motorz.h";
+#include "tankdrive.h";
+#include <NewPing.h>
+#include <DHT.h>
+
+#define DHTPIN 2
+#define iterations 3
+#define SONAR_L_PIN 3
+#define SONAR_M_PIN 4
+#define SONAR_R_PIN 5
+#define MAX_DISTANCE 400
+
+NewPing sonarL(SONAR_L_PIN,SONAR_L_PIN, MAX_DISTANCE);
+NewPing sonarM(SONAR_M_PIN,SONAR_M_PIN, MAX_DISTANCE);
+NewPing sonarR(SONAR_R_PIN,SONAR_R_PIN, MAX_DISTANCE);
+DHT dht(DHTPIN, DHT11); 
+
+float soundcm;
+float temp=20.0;
+float hum=50.0;
+float duration;
+
+unsigned long temp_startcnt;
+unsigned long temp_currcnt;
+int i;
+int dist[3];
+int enr=10;
+int in1=11;
+int in2=12;
+int directr=1;
+int enl=9;
+int in3=7;
+int in4=8;
+int directl=0;
+
+Motorz motorR(enr,in1,in2,directr);
+Motorz motorL(enl,in3,in4,directl);
+TankDrive mytank(&motorR,directr,&motorL,directl);
+
+void setup(){
+  temp_startcnt=millis();
+  dht.begin();
+  Serial.begin(115200);
+  Serial.println("Setup");
+  motorR.SetSpeed(200);
+  motorL.SetSpeed(60);
+  soundcm = 331.4 + (0.606 * temp) + (0.0124 * hum) ;
+  soundcm=soundcm/10000;
+
+  }
+
+
+void loop()
+{
+  temp_currcnt=millis();
+  if((temp_currcnt-temp_startcnt)>=30000){
+     GetTemps();
+     Serial.println();
+     Serial.println();
+     Serial.print("temps aquaried ");
+     Serial.print(millis());
+     Serial.println();
+     Serial.println();
+  }
+
+  GetDistances();
+  if(dist[1]>5){
+  Serial.print("Moving forward\n");
+  mytank.MoveForward();
+  }
+  else{
+    Serial.print("Object detected\n");
+    mytank.Stop();
+  }
+
+  /*
+  mytank.MoveForward();
+    delay(5000);
+  mytank.Stop();
+  delay(2000);
+  mytank.TurnRight();
+  delay(5000);
+  mytank.Stop();
+  delay(2000);
+  mytank.MoveBack();
+  delay(5000);
+   mytank.Stop();
+  delay(2000);
+  */
+}
+
+void GetDistances(){
+  /*duration = sonarL.ping_median(iterations);
+  dist[0]=(duration / 2) * soundcm;
+  duration = sonarM.ping_median(iterations);
+  dist[1]=(duration / 2) * soundcm;
+  duration = sonarR.ping_median(iterations);
+  dist[2]=(duration / 2) * soundcm;  */
+  duration = sonarL.ping();
+  dist[0]=(duration / 2) * soundcm;
+  delay(100);
+  duration = sonarM.ping();
+  dist[1]=(duration / 2) * soundcm;
+  delay(100);
+  duration = sonarR.ping();
+  dist[2]=(duration / 2) * soundcm;  
+  delay(100);
+  Serial.print("Distance L:");
+  Serial.print(dist[0]);
+  Serial.print(" M:");
+  Serial.print(dist[1]);
+  Serial.print(" R:");
+  Serial.print(dist[2]);
+  Serial.print(" Temp:");
+  Serial.print(temp);
+   Serial.print(" Humidity:");
+  Serial.print(hum);
+  Serial.println();
+}
+
+void GetTemps(){
+  hum = dht.readHumidity();  // Get Humidity value
+  temp= dht.readTemperature(); // Get Temp value
+  temp_startcnt=temp_currcnt;
+  
+}

tankdrive.h

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+#ifndef _TANKDRIVE_H  // not #ifnotdef
+#define _TANKDRIVE_H
+
+#include "Motorz.h"
+
+class TankDrive
+{
+  Motorz *motorL;
+  Motorz *motorR;
+  int forwardR,forwardL,backR,backL;
+  public:
+  TankDrive(Motorz *MR,int fr,Motorz *ML,int fl){
+    motorL=ML;
+    motorR=MR;
+    forwardR=fr;
+    forwardL=fl;
+    if(fr==1)backR=0;
+    else backR=1;
+    if(fl==1)backL=0;
+    else backL=1;
+  }
+  void MoveForward(){
+    motorR->SetDirection(forwardR);
+    motorL->SetDirection(forwardL);
+    motorR->Start();
+    motorL->Start();
+  }
+    void MoveBack(){
+    motorR->SetDirection(backR);
+    motorL->SetDirection(backL);
+    motorR->Start();
+    motorL->Start();
+  }
+  void Stop(){
+    motorL->Stop();
+    motorR->Stop();
+  }
+  void TurnRight(){
+    motorR->SetDirection(backR);
+    motorL->SetDirection(forwardL);
+    motorR->Start();
+    motorL->Start();
+  }
+   void Turnleft(){
+    motorR->SetDirection(forwardR);
+    motorL->SetDirection(backL);
+    motorL->Start();
+    motorR->Start();
+  }
+  
+};
+
+
+#endif _TANKDRIVE_H