Hi !
http://playground.arduino.cc/Code/NewPing
#include <NewPing.h>
#define TRIGGER_PIN 22 // Arduino pin tied to trigger pin on the ultrasonic sensor.
#define ECHO_PIN 23 // Arduino pin tied to echo pin on the ultrasonic sensor.
#define MAX_DISTANCE 200 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.
// Motor control
#define forwardLeft 24
#define backwardLeft 25
#define pwmLeft 2
#define forwardRight 26
#define backwardRight 27
#define pwmRight 3
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.
void setup() {
Serial.begin(115200); // Open serial monitor at 115200 baud to see ping results.
}
void loop() {
if (sonar.ping_cm() < 15 && sonar.ping_cm() > 5) {
leftMode();
} else {
moveMode();
}
// delay(1000); // Wait 50ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
Serial.print("Ping: ");
Serial.print(sonar.ping_cm()); // Send ping, get distance in cm and print result (0 = outside set distance range)
Serial.println("cm");
}
void moveMode (void) {
// Move forward
digitalWrite(forwardLeft, HIGH);
digitalWrite(backwardLeft, LOW);
analogWrite(pwmLeft, 77);
digitalWrite(forwardRight, HIGH);
digitalWrite(backwardRight, LOW);
analogWrite(pwmRight, 88);
}
void leftMode(void) {
// Move Left
digitalWrite(forwardLeft, LOW);
digitalWrite(backwardLeft, HIGH);
analogWrite(pwmLeft, 88);
digitalWrite(forwardRight, LOW);
digitalWrite(backwardRight, LOW);
analogWrite(pwmRight, 0);
delay(500);
}
This is code for my robot what I start to build. Just re-calculate cm to ft.