Update Driver code v1.2

autonomousCar/driver.ino/driver.ino.ino

@@ -5,10 +5,31 @@
 *
 */
 
+/*
+ * 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;
+//const int response = 13;
+/*
+ * For Motor Driver Pis.
+*/
 const int in1 = 2;
 const int in2 = 4;
 const int in3 = 7;
@@ -16,9 +37,22 @@ 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
@@ -30,7 +64,7 @@ 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(response, OUTPUT); // Sets to led aoutput.
 
 pinMode(in1, OUTPUT); //Motor Driver 1st Pin
 pinMode(in2, OUTPUT); //Motor Driver 2nd Pin
@@ -40,8 +74,11 @@ 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){
@@ -114,7 +151,7 @@ void motor_stop(){
 
 void loop() {
 // Calculating the distance
-distance= getDistance(echoPin, trigPin);
+/*distance= getDistance(echoPin, trigPin);
 
 // Prints the distance on the Serial Monitor
 //Serial.print("Distance: ");
@@ -127,6 +164,16 @@ if (distance < 10){
 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(1000);
+delay(500);
 }