Thanks! I edited my last post with some updated code. I'm slowly working my way through the different parts of the sketch to try and understand what is doing what.
Here's the original code:
/*MAEP 2.0 Navigation
by Noah Moroze, aka GeneralGeek
This code has been released under a Attribution-NonCommercial-ShareAlike license, more info at http://creativecommons.org/licenses/
PING))) code by David A. Mellis and Tom Igoe http://www.arduino.cc/en/Tutorial/Ping
*/
#include <Servo.h> //include Servo library
const int RForward = 0;
const int RBackward = 180;
const int LForward = RBackward;
const int LBackward = RForward;
const int RNeutral = 90;
const int LNeutral = 90; //constants for motor speed
const int pingPin = 7;
const int irPin = 0; //Sharp infrared sensor pin
const int dangerThresh = 10; //threshold for obstacles (in cm)
int leftDistance, rightDistance; //distances on either side
Servo panMotor;
Servo leftMotor;
Servo rightMotor; //declare motors
long duration; //time it takes to recieve PING))) signal
void setup()
{
rightMotor.attach(11);
leftMotor.attach(10);
panMotor.attach(6); //attach motors to proper pins
panMotor.write(90); //set PING))) pan to center
}
void loop()
{
int distanceFwd = ping();
if (distanceFwd>dangerThresh) //if path is clear
{
leftMotor.write(LForward);
rightMotor.write(RForward); //move forward
}
else //if path is blocked
{
leftMotor.write(LNeutral);
rightMotor.write(RNeutral);
panMotor.write(0);
delay(500);
rightDistance = ping(); //scan to the right
delay(500);
panMotor.write(180);
delay(700);
leftDistance = ping(); //scan to the left
delay(500);
panMotor.write(90); //return to center
delay(100);
compareDistance();
}
}
void compareDistance()
{
if (leftDistance>rightDistance) //if left is less obstructed
{
leftMotor.write(LBackward);
rightMotor.write(RForward); //turn left
delay(500);
}
else if (rightDistance>leftDistance) //if right is less obstructed
{
leftMotor.write(LForward);
rightMotor.write(RBackward); //turn right
delay(500);
}
else //if they are equally obstructed
{
leftMotor.write(LForward);
rightMotor.write(RBackward); //turn 180 degrees
delay(1000);
}
}
long ping()
{
// Send out PING))) signal pulse
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
//Get duration it takes to receive echo
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
//Convert duration into distance
return duration / 29 / 2;
}
Along with the project link: http://www.instructables.com/id/How-To-Make-an-Obstacle-Avoiding-Arduino-Robot/