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Update Driver code v1.2

master
Evangelos Oulis 5 years ago
parent
commit
0bc69c7bcd
  1. 35
      autonomousCar/driver.ino/driver.ino.ino

35
autonomousCar/driver.ino/driver.ino.ino

@ -6,9 +6,9 @@
*/
// defines pins numbers
const int trigPin = 10;
const int trigPin = 12;
const int echoPin = 9;
const int response = 12;
const int response = 13;
const int in1 = 2;
const int in2 = 4;
const int in3 = 7;
@ -18,7 +18,7 @@ const int leftSpeed = 3;
// defines variables
long duration;
int distance;
int distance, distanceCm;
void clearUltrasonic(){
// Clears the trigPin
@ -44,6 +44,20 @@ Serial.begin(9600); // Starts the serial communication
clearUltrasonic();
}
int getDistance(int echoPin, int trigPin){
clearUltrasonic();
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echbackwardoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
distanceCm = duration * 0.0340 / 2;
return distanceCm;
}
//Stepper Function
void step(/*boolean dir,*/int steps){
// digitalWrite(dirPin1,dir);
@ -99,20 +113,12 @@ void motor_stop(){
}
void loop() {
// Sets the trigPin on HIGH state for 10 micro seconds
analogWrite(trigPin, HIGH);
delayMicroseconds(10);
analogWrite(trigPin, LOW);
// Reads the echbackwardoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
distance= getDistance(echoPin, trigPin);
// Prints the distance on the Serial Monitor
//Serial.print("Distance: ");
//Serial.println(distance);
Serial.println(distance);
absolute();
if (distance < 10){
motor_stop();
@ -122,6 +128,5 @@ else{
forward();
digitalWrite(response, LOW);
}
clearUltrasonic();
delay(1500);
delay(1000);
}

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