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@ -5,10 +5,31 @@ |
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* |
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*/ |
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/*
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* Include all libraries. |
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*/ |
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#include <Stepper.h> |
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/*
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* ------------------------------------------------------- |
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*/ |
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/*
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* All Definitions. |
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*/ |
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#define STEPS 2048 |
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/*
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* ------------------------------------------------------- |
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*/ |
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// defines pins numbers
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const int trigPin = 12; |
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const int echoPin = 9; |
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const int response = 13; |
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//const int response = 13;
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/*
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* For Motor Driver Pis. |
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*/ |
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const int in1 = 2; |
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const int in2 = 4; |
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const int in3 = 7; |
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@ -16,9 +37,22 @@ const int in4 = 8; |
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const int rightSpeed = 5; |
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const int leftSpeed = 3; |
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/*
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* For Stepper Motor Pins |
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*/ |
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const int in1_1 = 6; |
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const int int2_1 = 10; |
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const int int3_1 = 11; |
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const int int4_1 = 13; |
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// defines variables
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long duration; |
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int distance, distanceCm; |
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int i; |
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/*
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* |
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*/ |
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Stepper stepper(STEPS, in1_1, int2_1, int3_1, int4_1); |
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void clearUltrasonic(){ |
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// Clears the trigPin
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@ -30,7 +64,7 @@ void setup() { |
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pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
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pinMode(echoPin, INPUT); // Sets the echoPin as an Input
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pinMode(response, OUTPUT); // Sets to led aoutput.
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//pinMode(response, OUTPUT); // Sets to led aoutput.
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pinMode(in1, OUTPUT); //Motor Driver 1st Pin
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pinMode(in2, OUTPUT); //Motor Driver 2nd Pin
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@ -40,8 +74,11 @@ pinMode(in4, OUTPUT); //Motor Driver 4th Pin |
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pinMode(rightSpeed, OUTPUT); |
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pinMode(leftSpeed, OUTPUT); |
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stepper.setSpeed(200); |
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Serial.begin(9600); // Starts the serial communication
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clearUltrasonic(); |
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i = 0; |
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} |
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int getDistance(int echoPin, int trigPin){ |
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@ -114,7 +151,7 @@ void motor_stop(){ |
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void loop() { |
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// Calculating the distance
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distance= getDistance(echoPin, trigPin); |
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/*distance= getDistance(echoPin, trigPin);
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// Prints the distance on the Serial Monitor
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//Serial.print("Distance: ");
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@ -127,6 +164,16 @@ if (distance < 10){ |
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else{ |
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forward(); |
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digitalWrite(response, LOW); |
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}*/ |
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//stepper.step(1200);
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//delay(1000);
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if (i < 2048){ |
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stepper.step(5); |
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i += 4; |
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} |
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else{ |
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stepper.step(5); |
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i = 0; |
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} |
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delay(1000); |
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delay(500); |
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} |
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