Small Robot With HC-SR04

Using Arduino Sensors
1

Hey, guys,

Well, maybe it's just a silly thing...but, here we go...
I'm programming a small robot...just like a car or something. Actually, I've got 4 servo motors and I need to control them.
I also have 2 ultrasonic sensors. One of them is straight ahead the car and the other behind it. So, I just want my little car runs to one direction and if it finds a wall at least 10.50 cm, it goes to the opposite. The same happens if the other sensor "sees" a wall (or any object) as near as 10.50cm. The code is attached.

Is there someone to help me with that?

sketch_jun04_CORRETO.ino (1.46 KB)

2

Ok let's look at that code:

#include <Ultrasonic.h>
#define PINO_TRIGGER  12 
#define PINO_ECHO     13
#define PINO_TRIGGER2 6
#define PINO_ECHO2    7

Ultrasonic ultrasonic(PINO_TRIGGER, PINO_ECHO);
Ultrasonic ultrasonic2(PINO_TRIGGER2, PINO_ECHO2);
int ENA = 3;
int ENB = 5;
int IN1 = 8;
int IN2 = 9;
int IN3 = 11;
int IN4 = 10;
int LED = 2;
 

void setup()
{
  Serial.begin(9600);
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);  
  pinMode(IN3,OUTPUT); 
  pinMode(IN4,OUTPUT);
  pinMode(LED, OUTPUT);
}

void loop()
{
  float cmMsec, cmNsec;
  long microsec = ultrasonic.timing();
  long microsec2 = ultrasonic2.timing();
  cmMsec = ultrasonic.convert(microsec, Ultrasonic::CM);
  cmNsec = ultrasonic2.convert(microsec2, Ultrasonic::CM);
  Serial.print("Cent: ");
  Serial.print(cmMsec);
  Serial.print("Cent: ");
  Serial.println(cmNsec);
  
  
 if(cmMsec >= 10.50){
  analogWrite(ENA, 100);// motor speed  
  digitalWrite(IN1,HIGH);// rotate forward
  digitalWrite(IN2,LOW);
  analogWrite(ENB, 100);// motor speed  
  digitalWrite(IN3,HIGH);// rotate forward
  digitalWrite(IN4,LOW);
   } else if(cmNsec >= 10.50){
 analogWrite(ENA, 100);
 digitalWrite(IN1,LOW);// rotate reverse
 digitalWrite(IN2,HIGH);
 analogWrite(ENB, 100);
 digitalWrite(IN3,LOW);// rotate forward
 digitalWrite(IN4,HIGH);
}
if(cmMsec <= 10.50 && cmNsec <= 10.50) {
 analogWrite(ENA, 0);
 digitalWrite(IN1,LOW);// rotate reverse
 digitalWrite(IN2,LOW);
 analogWrite(ENB, 0);
 digitalWrite(IN3,LOW);// rotate forward
 digitalWrite(IN4, LOW);}
}

Can you describe the problems?