From 0bc69c7bcdf0d180e8323fe3bfd9eb8a413b466a Mon Sep 17 00:00:00 2001
From: Evangelos Oulis <cs151051@uniwa.gr>
Date: Tue, 10 Dec 2019 17:47:56 +0200
Subject: [PATCH] Update Driver code v1.2

---
 autonomousCar/driver.ino/driver.ino.ino | 35 ++++++++++++++-----------
 1 file changed, 20 insertions(+), 15 deletions(-)

diff --git a/autonomousCar/driver.ino/driver.ino.ino b/autonomousCar/driver.ino/driver.ino.ino
index 6a87294..c56039b 100644
--- a/autonomousCar/driver.ino/driver.ino.ino
+++ b/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);
 }