So. I have a RC car turned into a robot. I wanted it to play a two tone sound when it decides it needs to turn around. (When the Ping))) Sensor is 36 inches from what it is reflecting off of.) Every time I add const int piezoPin = 4; and the tone() functions, my motors don't go forwards or backwards. Here's my code.
/*
RC Car to Robot Conversion
by Nathan Brown
Used to convert an RC car into a robot that uses a PING sensor to avoid obstacles,
and an Arduino motor shield for motor control.
*/
//initialize speaker pin
const int piezoPin = 4;
// this constant won't change. It's the pin number
// of the sensor's output:
const int pingPin = 7;
void setup() {
Serial.begin(9600);
//establish motor direction toggle pins
pinMode(12, OUTPUT); //drive motor -- HIGH = forwards and LOW = backwards
pinMode(13, OUTPUT); //turn motor -- HIGH = left and LOW = right
//establish motor brake pins
pinMode(9, OUTPUT); //brake (disable) the drive motor
pinMode(8, OUTPUT); //brake (disable) the turn motor
//Turns brake off for drive motor
digitalWrite(9, LOW);
//Turns brake on for turn motor
digitalWrite(8, HIGH);
//Sets initial speed of drive motor
analogWrite(3, 200);
//Sets initial direction of drive motor
digitalWrite(12, HIGH);
}
void loop()
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// short LOW pulse before to assure a clean HIGH pulse:
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
//
//if objects are less than 24 inches away
//the robot reverses and turns to the right
//for 2 seconds
//
Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print("cm");
Serial.println();
if (inches < 36){
//brake drive motor and pause 3/10 second
digitalWrite(9, HIGH);
tone(piezoPin,2000,100);
Serial.print("Piezo triggered @ 2000 Hertz for 100 milliseconds.");
Serial.println();
delay(300);
tone(piezoPin,1000,300);
Serial.print("Piezo triggered @ 1000 Hertz for 300 milliseconds.");
Serial.println();
Serial.print("Stopping");
Serial.print(".");
Serial.print(".");
Serial.print(".");
Serial.println();
//
//setting turn motor
//
if (random(100) > 50){ // custom-----
//turn off brake for turn motor
digitalWrite(8, LOW);
Serial.print("Going Backwards.");
Serial.println();
Serial.print("Turning Right.");
Serial.println();
//set turn motor direction
digitalWrite(13, HIGH);
//activate turn motor
analogWrite(11, 255);
//
//setting drive motor
//
//turn off brake of drive motor
digitalWrite(9, LOW);
//set drive motor backwards direction
digitalWrite(12, LOW);
//activate the drive motor
analogWrite(3, 200);
//backup for 2 seconds
delay(2000);
//
//stopping
//
//brake both motors
digitalWrite(8, HIGH);
digitalWrite(9, HIGH);
Serial.print("Going Forwards.");
Serial.println();
}
else{//turn off brake for turn motor
digitalWrite(8, LOW);
//set turn motor direction
digitalWrite(13, LOW);
Serial.print("Going Backwards.");
Serial.println();
Serial.print("Turning Left");
Serial.println();
//activate turn motor
analogWrite(11, 255);
//
//setting drive motor
//
//turn off brake of drive motor
digitalWrite(9, LOW);
//set drive motor backwards direction
digitalWrite(12, LOW);
//activate the drive motor
analogWrite(3, 200);
//backup for 2 seconds
delay(2000);
//
//stopping
//
//brake both motors
digitalWrite(8, HIGH);
digitalWrite(9, HIGH);
Serial.print("Going Forwards.");
Serial.println();
}
}
//when nothing is within 12"
//the robot simply drives forwards
//
else{
//
//Setting drive motor
//
//set drive motor forward direction
digitalWrite(12, HIGH);
//turn off brake of drive motor
digitalWrite(9, LOW);
//activate drive motor
analogWrite(3, 200);
}
delay(100);
}
long microsecondsToInches(long microseconds)
{
// According to Parallax's datasheet for the PING))), there are
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
// second). This gives the distance travelled by the ping, outbound
// and return, so we divide by 2 to get the distance of the obstacle.
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
}
I'll delete the other one.