From 1e4bba322a225d04aa997e308529f21e7bb0c207 Mon Sep 17 00:00:00 2001
From: Evangelos Oulis <cs151051@uniwa.gr>
Date: Tue, 10 Dec 2019 11:46:55 +0200
Subject: [PATCH] Autonomous car parking code.

---
 autonomousCar/driver.ino/driver.ino.ino | 127 ++++++++++++++++++++++++
 1 file changed, 127 insertions(+)
 create mode 100644 autonomousCar/driver.ino/driver.ino.ino

diff --git a/autonomousCar/driver.ino/driver.ino.ino b/autonomousCar/driver.ino/driver.ino.ino
new file mode 100644
index 0000000..6a87294
--- /dev/null
+++ b/autonomousCar/driver.ino/driver.ino.ino
@@ -0,0 +1,127 @@
+/*
+* Athors: Oulis Evnagelos, Oulis Nikolaos, Katsibras Drosos
+* Ultrasonic Sensor HC-SR04 and Arduino
+* Dual Stepper Motor Shiled 1.1
+*
+*/
+
+// defines pins numbers
+const int trigPin = 10;
+const int echoPin = 9;
+const int response = 12;
+const int in1 = 2;
+const int in2 = 4;
+const int in3 = 7;
+const int in4 = 8;
+const int rightSpeed = 5;
+const int leftSpeed = 3;
+
+// defines variables
+long duration;
+int distance;
+
+void clearUltrasonic(){
+  // Clears the trigPin
+  analogWrite(trigPin, LOW);
+  delayMicroseconds(2);
+}
+
+void setup() {
+pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
+pinMode(echoPin, INPUT); // Sets the echoPin as an Input
+
+pinMode(response, OUTPUT); // Sets to led aoutput.
+
+pinMode(in1, OUTPUT); //Motor Driver 1st Pin
+pinMode(in2, OUTPUT); //Motor Driver 2nd Pin
+pinMode(in3, OUTPUT); //Motor Driver 3rd Pin
+pinMode(in4, OUTPUT); //Motor Driver 4th Pin
+
+pinMode(rightSpeed, OUTPUT);
+pinMode(leftSpeed, OUTPUT);
+
+Serial.begin(9600); // Starts the serial communication
+clearUltrasonic();
+}
+
+//Stepper Function
+void step(/*boolean dir,*/int steps){
+//  digitalWrite(dirPin1,dir);
+//  digitalWrite(dirPin2,dir);
+  delay(50);
+  for(int i=0;i<steps;i++){
+    forward();
+    delayMicroseconds(100);
+    motor_stop();
+    delayMicroseconds(100);
+  }
+}
+
+
+void turnLeft(){
+  analogWrite(leftSpeed, 255);
+  analogWrite(rightSpeed, 0);
+}
+
+void turnRight(){
+  analogWrite(leftSpeed, 0);
+  analogWrite(rightSpeed, 255);
+}
+
+void absolute(){
+  analogWrite(leftSpeed, 255);
+  analogWrite(rightSpeed, 255);
+}
+
+void backward(){
+  // Set Motor A backward
+  digitalWrite(in1, HIGH);
+  digitalWrite(in2, LOW);
+  // Set Motor B backward
+  digitalWrite(in3, HIGH);
+  digitalWrite(in4, LOW);
+}
+
+void forward(){
+  // Set Motor A forward
+  digitalWrite(in1, LOW);
+  digitalWrite(in2, HIGH);
+  // Set Motor B forward
+  digitalWrite(in3, LOW);
+  digitalWrite(in4, HIGH);
+}
+
+void motor_stop(){
+  digitalWrite(in1, LOW);
+  digitalWrite(in2, LOW);
+  digitalWrite(in3, LOW);
+  digitalWrite(in4, LOW);
+}
+
+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;
+
+// Prints the distance on the Serial Monitor
+//Serial.print("Distance: ");
+//Serial.println(distance);
+absolute();
+if (distance < 10){
+  motor_stop();
+  digitalWrite(response, HIGH);
+}
+else{
+  forward();
+  digitalWrite(response, LOW);
+}
+clearUltrasonic();
+delay(1500);
+}