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Copy pathUltrasonic-sensor-wall-tracking.ino
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Ultrasonic-sensor-wall-tracking.ino
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#define e1 A5
#define t1 A4
#define e2 A3
#define t2 A2
#define e3 A1
#define t3 A0
#define L1 3
#define L2 5
#define M1 6
#define M2 9
void f()
{analogWrite(L1,162);
analogWrite(L2,0);
analogWrite(M1,0);
analogWrite(M2,162);}
void r()
{analogWrite(L1,165);
analogWrite(L2,0);
analogWrite(M1,165);
analogWrite(M2,0);}
void l()
{analogWrite(L1,0);
analogWrite(L2,165);
analogWrite(M1,0);
analogWrite(M2,165);}
void fw()
{analogWrite(L1,255);
analogWrite(L2,0);
analogWrite(M1,0);
analogWrite(M2,255);}
void bk()
{analogWrite(L1,0);
analogWrite(L2,165);
analogWrite(M1,165);
analogWrite(M2,0);}
void setup()
{Serial.begin(9600);
pinMode(t1, OUTPUT);
pinMode(e1, INPUT);
pinMode(t2, OUTPUT);
pinMode(e2, INPUT);
pinMode(t3, OUTPUT);
pinMode(e3, INPUT);
pinMode(L1, OUTPUT);
pinMode(L2, OUTPUT);
pinMode(M1, OUTPUT);
pinMode(M2, OUTPUT);}
void loop()
{float d1,di1,d2,di2,d3,di3;
digitalWrite(t1, HIGH);
delay(100);
digitalWrite(t1, LOW);
d1=pulseIn(e1, HIGH);
di1= (d1/2)*0.034;
Serial.print(" di1: ");
Serial.println(di1);
digitalWrite(t2, HIGH);
delay(100);
digitalWrite(t2, LOW);
d2=pulseIn(e2, HIGH);
di2= (d2/2)*0.034;
Serial.print(" di2: ");
Serial.println(di2);
digitalWrite(t3, HIGH);
delay(100);
digitalWrite(t3, LOW);
d3=pulseIn(e3, HIGH);
di3= (d3/2)*0.034;
Serial.print(" di3: ");
Serial.println(di3);
if ( di1<=18.2 && di2<22 && di3<=18.5)
{{ if (di1>di3)
{bk();
delay(200);
l();
delay(180);
f();}
else if (di1<di3)
{bk();
delay(200);
r();
delay(180);
f();}}}
else if ( di1>18.2 && di2<22 && di3>18.5)
{{ if (di1>di3)
{bk();
delay(200);
l();
delay(180);
f();}
else if (di1<di3)
{bk();
delay(200);
r();
delay(180);
f();}}}
else if ( di1<10 && di2>=36 && di3>18.5)
{bk();
delay(200);
r();
delay(160);
f();}
else if ( di1>18.2 && di2>=36 && di3<10.3)
{bk();
delay(200);
l();
delay(160);
f();}
else if ( di1<=18.2 && di2<36 && di3>18.5)
{bk();
delay(200);
r();
delay(250);
f();}
else if ( di1>18.2 && di2<36 && di3<=18.5)
{bk();
delay(200);
l();
delay(250);
f();}
else if ( di1>18.2 && di2<36 && di3>18.5)
{ if (di1>di3)
{bk();
delay(200);
l();
delay(180);
f();}
else if (di1<di3)
{bk();
delay(200);
r();
delay(180);
f();}}
else
{fw();}}