hi im building obstacle avoidance robot using two hs-o4 sensor and two dc motor. im using following code
#include <NewPing.h>
#define lp 9// left side motor l293
#define ln 8// left side motor l293
#define rp 7// right side motor l293
#define rn 6// right side motor l293
#define SONAR_NUM 2 // Number or sensors.
#define MAX_DISTANCE 200 // Maximum distance (in cm) to ping.
#define PING_INTERVAL 33 // Milliseconds between sensor pings (29ms is about the min to avoid cross-sensor echo).
unsigned long pingTimer[SONAR_NUM]; // Holds the times when the next ping should happen for each sensor.
unsigned int cm[SONAR_NUM]; // Where the ping distances are stored.
uint8_t currentSensor = 0; // Keeps track of which sensor is active.
int leftsensor, rightsensor;
NewPing sonar[SONAR_NUM] = { // Sensor object array.
NewPing(13, 12, MAX_DISTANCE), // Each sensor's trigger pin, echo pin, and max distance to ping.
NewPing(11, 10, MAX_DISTANCE),
};
void setup() {
Serial.begin(115200);
pingTimer[0] = millis() + 75; // First ping starts at 75ms, gives time for the Arduino to chill before starting.
for (uint8_t i = 1; i < SONAR_NUM; i++) // Set the starting time for each sensor.
pingTimer[i] = pingTimer[i - 1] + PING_INTERVAL;
}
void loop() {
for (uint8_t i = 0; i < SONAR_NUM; i++) { // Loop through all the sensors.
if (millis() >= pingTimer[i]) { // Is it this sensor's time to ping?
pingTimer[i] += PING_INTERVAL * SONAR_NUM; // Set next time this sensor will be pinged.
if (i == 0 && currentSensor == SONAR_NUM - 1)
{
leftsensor =cm[0];
rightsensor =cm[1];
if ((leftsensor >=10) && (rightsensor >=10))
{
digitalWrite(lp, HIGH);
digitalWrite(ln, LOW);
digitalWrite(rp, HIGH);
digitalWrite(rn, LOW);
Serial.println(" go straight");
Serial.println(cm[0]);
Serial.println(cm[1]);
}
if ((leftsensor <=10) && (rightsensor >=10))
{
digitalWrite(lp, HIGH);
digitalWrite(ln, LOW);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println(" right turn");
Serial.println(cm[0]);
Serial.println(cm[1]);
}
if ((leftsensor <=10)&& (rightsensor >=10))
{
digitalWrite(ln, HIGH);
digitalWrite(lp, LOW);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println("left turn ");
Serial.println(cm[0]);
Serial.println(cm[1]);
}
if ((leftsensor <=10) && (rightsensor <=10))
{
digitalWrite(lp, LOW);
digitalWrite(ln, HIGH);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println("back");
Serial.println(cm[0]);
Serial.println(cm[1]);
}
if ((leftsensor =0) && (rightsensor =0))
{digitalWrite(lp, HIGH);
digitalWrite(ln, LOW);
digitalWrite(rn, LOW);
digitalWrite(rp, HIGH);
Serial.println("go stright");
Serial.println(cm[0]);
Serial.println(cm[1]);
}
if ((leftsensor =0) && (rightsensor >=10))
{digitalWrite(lp, HIGH);
digitalWrite(ln, LOW);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println(" right turn");
Serial.println(cm[0]);
Serial.println(cm[1]);
}
if ((leftsensor =0) && (rightsensor >=10))
{digitalWrite(ln, HIGH);
digitalWrite(lp, LOW);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println(" left turn");
Serial.println(cm[0]);
Serial.println(cm[1]);
}
sonar[currentSensor].timer_stop(); // Make sure previous timer is canceled before starting a new ping (insurance).
currentSensor = i; // Sensor being accessed.
cm[currentSensor] = 0; // Make distance zero in case there's no ping echo for this sensor.
sonar[currentSensor].ping_timer(echoCheck); // Do the ping (processing continues, interrupt will call echoCheck to look for echo).
}
}
// The rest of your code would go here.
}
}
void echoCheck() { // If ping received, set the sensor distance to array.
if (sonar[currentSensor].check_timer())
cm[currentSensor] = sonar[currentSensor].ping_result / US_ROUNDTRIP_CM;
}
by using this the robot is not moving straight but it is rotating in same place slowly and if try to use serial monitor it is not printing any thing
then i tried normal code
#define ta 13// trigger
#define ea 12// eco
#define tb 11 // trigger
#define eb 10// eco
#define lp 9// left side motor l293
#define ln 8// left side motor l293
#define rp 7// right side motor l293
#define rn 6// right side motor l293
#define TIMEOUT 40000 // 40ms timeout (the HC-sr04 has 38 ms timeout)
void setup()
{
Serial.begin (19200);
pinMode(lp, OUTPUT);
pinMode(ln, OUTPUT);
pinMode(rp, OUTPUT);
pinMode(rn, OUTPUT);
pinMode(ta, OUTPUT);
pinMode(ea, INPUT);
pinMode(tb, OUTPUT);
pinMode(eb, INPUT);
digitalWrite(ta, LOW); // Ensure triger is starting with low before any pulse
delayMicroseconds(20);// Delay before first pulse
digitalWrite(tb, LOW);
delayMicroseconds(20);
}
void loop()
{
long dua, da,dub,db;
digitalWrite(ta, HIGH); // Start the a High Pulse
delayMicroseconds(10); // Delay 10 micros
digitalWrite(ta, LOW); // End the Pulse
dua = pulseIn(ea, HIGH, TIMEOUT);
da = (dua/2) / 29.1;
digitalWrite(tb, HIGH); // Start the b High Pulse
delayMicroseconds(10); // Delay 10 micros
digitalWrite(tb, LOW); // End the Pulse
dub = pulseIn(eb, HIGH, TIMEOUT);
db = (dub/2) / 29.1;
if ((da >=10) && (db >=10))
{
digitalWrite(lp, HIGH);
digitalWrite(ln, LOW);
digitalWrite(rp, HIGH);
digitalWrite(rn, LOW);
Serial.println(" go straight");
Serial.println(da);
Serial.println(db);
}
if ((da <=10) && (db >=10))
{
digitalWrite(lp, HIGH);
digitalWrite(ln, LOW);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println(" right turn");
Serial.println(da);
Serial.println(db);
}
if ((db <=10)&& (da >=10))
{
digitalWrite(ln, HIGH);
digitalWrite(lp, LOW);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println("left turn ");
Serial.println(da);
Serial.println(db);
}
if ((da <=10) && (db <=10))
{
digitalWrite(lp, LOW);
digitalWrite(ln, HIGH);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println("back");
Serial.println(da);
Serial.println(db);
}
if ((da =0) && (db =0))
{digitalWrite(lp, HIGH);
digitalWrite(ln, LOW);
digitalWrite(rn, LOW);
digitalWrite(rp, HIGH);
Serial.println("go stright");
Serial.println(da);
Serial.println(db);
}
if ((da =0) && (db >=10))
{digitalWrite(lp, HIGH);
digitalWrite(ln, LOW);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println(" right turn");
Serial.println(da);
Serial.println(db);
}
if ((db =0) && (da >=10))
{digitalWrite(ln, HIGH);
digitalWrite(lp, LOW);
digitalWrite(rn, HIGH);
digitalWrite(rp, LOW);
Serial.println(" left turn");
Serial.println(da);
Serial.println(db);
}
delay(50);
}
it is behaving good in serial monitor that is print turn right when blocked in left and in vice versa...
but in real robot it is rotating in clock wise not moving forward..help me to resolve it