update

autonomousCar/driver.ino

@@ -1,179 +0,0 @@
-/*
-* Athors: Oulis Evnagelos, Oulis Nikolaos, Katsibras Drosos
-* Ultrasonic Sensor HC-SR04 and Arduino
-* Dual Stepper Motor Shiled 1.1
-*
-*/
-
-/*
- * Include all libraries.
-*/
-#include <Stepper.h>
-
-/*
- * -------------------------------------------------------
-*/
-
-/*
- * All Definitions.
-*/
-#define STEPS 2048
-
-/*
- * -------------------------------------------------------
-*/
-
-// defines pins numbers
-const int trigPin = 12;
-const int echoPin = 9;
-//const int response = 13;
-/*
- * For Motor Driver Pis.
-*/
-const int in1 = 2;
-const int in2 = 4;
-const int in3 = 7;
-const int in4 = 8;
-const int rightSpeed = 5;
-const int leftSpeed = 3;
-
-/*
- * For Stepper Motor Pins
-*/
-const int in1_1 = 6;
-const int int2_1 = 10;
-const int int3_1 = 11;
-const int int4_1 = 13;
-
-// defines variables
-long duration;
-int distance, distanceCm;
-int i;
-/*
- * 
-*/
-Stepper stepper(STEPS, in1_1, int2_1, int3_1, int4_1);
-
-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);
-
-stepper.setSpeed(200);
-
-Serial.begin(9600); // Starts the serial communication
-clearUltrasonic();
-i = 0;
-}
-
-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);
-//  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() {
-// Calculating the distance
-/*distance= getDistance(echoPin, trigPin);
-
-// 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);
-}*/
-//stepper.step(1200);
-//delay(1000);
-if (i < 2048){
-  stepper.step(5);
-  i += 4;
-}
-else{
-  stepper.step(5);
-  i = 0;
-}
-delay(500);
-}