CPP 251
Arduino code By arvand on 12th September 2023 08:07:22 AM
  1. #define encoderr 2
  2. #define encoderl 3
  3.  
  4. #define echo1 64
  5. #define echo2 66
  6. #define echo3 68
  7. #define trig1 65
  8. #define trig2 67
  9. #define trig3 69
  10. #define echo4 41
  11. #define echo5 31
  12. #define trig4 43
  13. #define trig5 33
  14.  
  15. #define motorr_p 7     // motor - and + conectors
  16. #define motorr_m 5
  17. #define motorl_p 8
  18. #define motorl_m 4
  19.  
  20.  long int dispulser = 0;  // enchoder pulses till now
  21.  long int dispulsel = 0;
  22.  
  23.  
  24. long duration, distance  ;
  25. int rightsensor, midsensor, leftsensor ,right2sensor, mid2sensor, left2sensor;
  26.  
  27.  void ultra_sonics(int trigPin, int echoPin)
  28. {
  29.   digitalWrite(trigPin, 0);
  30.   delayMicroseconds(2);
  31.  
  32.   digitalWrite(trigPin, 1);
  33.   delayMicroseconds(10);
  34.   digitalWrite(trigPin, 0);
  35.   duration = pulseIn(echoPin, 1 , 26000);
  36.   distance = distance;
  37.   distance = duration * 0.034/2;
  38. }
  39.  
  40.  
  41. void enr()
  42. {
  43.     dispulser ++;
  44. }
  45.  
  46. void enl()
  47. {
  48.     dispulsel ++ ;
  49. }
  50.  
  51. void check_ul_sen()
  52. {
  53.   ultra_sonics(trig1, echo1);
  54.   leftsensor = distance;
  55.  
  56.   ultra_sonics(trig2, echo2);
  57.   rightsensor = distance;
  58.  
  59.   ultra_sonics(trig3, echo3);
  60.   midsensor = distance;
  61.  
  62.   ultra_sonics(trig4, echo4);
  63.   right2sensor = distance;
  64.  
  65.   ultra_sonics(trig5, echo5);
  66.   left2sensor = distance;
  67.  
  68.  
  69.  
  70.  
  71.  
  72. }
  73.  
  74. void setup() {
  75.   // put your setup code here, to run once:
  76.   pinMode(motorl_p , OUTPUT);
  77.   pinMode(motorl_m , OUTPUT);
  78.   pinMode(motorr_p , OUTPUT);
  79.   pinMode(motorr_m , OUTPUT);
  80.  
  81.   pinMode(trig1, OUTPUT);
  82.   pinMode(trig2, OUTPUT);
  83.   pinMode(trig3, OUTPUT);
  84.   pinMode(trig4, OUTPUT);
  85.   pinMode(trig5, OUTPUT);
  86.   pinMode(echo1, INPUT);
  87.   pinMode(echo2, INPUT);
  88.   pinMode(echo3, INPUT);
  89.   pinMode(echo4, INPUT);
  90.   pinMode(echo5, INPUT);
  91.  
  92.   Serial.begin(115200);
  93.    
  94.   attachInterrupt(digitalPinToInterrupt(encoderr), enr, RISING);
  95.   attachInterrupt(digitalPinToInterrupt(encoderl), enl, RISING);
  96.  
  97. }
  98.  
  99. void loop() {
  100.   // put your main code here, to run repeatedly:
  101.   check_ul_sen();
  102.   //analogWrite(motorl_p , 255);
  103.   //analogWrite(motorl_m , 0);
  104.  
  105.   //analogWrite(motorr_p , 255);
  106.  // analogWrite(motorr_m , 0);
  107.  
  108.   Serial.print('L');
  109.   Serial.print(leftsensor);
  110.   Serial.print(" R ");
  111.   Serial.print(rightsensor);
  112.   Serial.print(" M ");
  113.   Serial.print(midsensor);
  114.   Serial.print(" L2 ");
  115.   Serial.print(left2sensor);
  116.   Serial.print(" R2 ");
  117.   Serial.println(right2sensor);
  118.   Serial.print(" enl ");
  119.   Serial.print(dispulsel);
  120.   Serial.print(" enr ");
  121.   Serial.println(dispulser);
  122.  
  123.   delay(300);
  124.  
  125.  
  126.  
  127.  
  128. }

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