Hi! Can you please help me with my code?
I want combine motor code and newping. I use 1 stepper motor and 6 ultrasonic sensor. My intention is to program motor that rotate after take 200 cycles of newping reading. I have no idea how to program 200 sensorcycle reading of newping per rotation motor. When i try combine motor with 6 newping sensor, the reading only show at last sensor(refer photo attached).
I attach a copy below.
#include <NewPing.h>
#include <Stepper.h>
#define SONAR_NUM 6 // Number of sensors.
#define MAX_DISTANCE 1000 // 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.
const int stepsPerRevolution = 200;
int stepCount = 0;
Stepper myStepper(stepsPerRevolution, 32,33,34,35);
NewPing sonar[SONAR_NUM] = { // Sensor object array.
NewPing(2, 3, MAX_DISTANCE), // Each sensor's trigger pin, echo pin, and max distance to ping.
NewPing(4, 5, MAX_DISTANCE),
NewPing(6, 7, MAX_DISTANCE),
NewPing(8, 9, MAX_DISTANCE),
NewPing(10, 11, MAX_DISTANCE),
NewPing(12, 13, 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) oneSensorCycle(); // Sensor ping cycle complete, do something with the results.
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).
}
}
// Other code that *DOESN'T* analyze ping results can go here.
{ if(stepCount < 10)
{
RotateMotor();
Serial.print("steps:");
Serial.println(stepCount);
}
else {
StopMotor();
}
stepCount++;}
}
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;
}
void oneSensorCycle() { // Sensor ping cycle complete, do something with the results.
// The following code would be replaced with your code that does something with the ping results.
for (uint8_t i = 0; i < SONAR_NUM; i++) {
Serial.print("US");
Serial.print(i+1);
Serial.print("=");
Serial.print(cm[i]);
Serial.print("cm ");
}
Serial.println();
}
void RotateMotor() {
myStepper.step(1);
delay(500);
}
void StopMotor() {
myStepper.step(0);
delay(500);
}
