I have a robotics project wherein when the capacitive proximity sensor detects and lights up its on-sensor LED, the robot car stops and rotates 4 servo motors. The capacitive proximity sensor is onboard an obstacle avoidance car that uses an ultrasonic sensor.
I have given it a try to create the project during which the capacitive sensor didn't need any code and when it detects and lights up it automatically stops the wheels which is what I need but don't know why.
(Here's the code:)
int trigPin = 9; // trig pin of HC-SR04
int echoPin = 10; // Echo pin of HC-SR04
long duration, distance;
void setup() {
delay(random(500,2000)); // delay for random time
Serial.begin(9600);
pinMode(4, OUTPUT); // set Motor pins as output
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(trigPin, OUTPUT); // set trig pin as output
pinMode(echoPin, INPUT); //set echo pin as input to capture reflected waves
}
void loop() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // send waves for 10 us
delayMicroseconds(10);
duration = pulseIn(echoPin, HIGH); // receive reflected waves
distance = duration / 58.2; // convert to distance
delay(10);
// If you dont get proper movements of your robot then alter the pin numbers
if (distance > 16){
digitalWrite(4, LOW); // move forward
digitalWrite(5, HIGH);
digitalWrite(6, LOW);
digitalWrite(7, HIGH);
}
if (distance < 15){
digitalWrite(4, LOW); //Stop
digitalWrite(5, LOW);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
delay(1000);
digitalWrite(4, HIGH); //movebackword
digitalWrite(5, LOW);
digitalWrite(6, HIGH);
digitalWrite(7, LOW);
delay(300);
digitalWrite(4, LOW); //Stop
digitalWrite(5, LOW);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
delay(1000);
digitalWrite(4, LOW); //move the other direction
digitalWrite(5, HIGH);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
delay(300);
digitalWrite(4, LOW); //Stop
digitalWrite(5, LOW);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
delay(1000);
}
}
But when I add the capacitive proximity sensor and servo motors to the code, the added code doesn't seem to do anything.
(Here's the code:)
#include <Servo.h>
Servo myservo0;
Servo myservo1;
Servo myservo2;
Servo myservo3;
#define servoPin0 36
#define servoPin1 37
#define servoPin2 38
#define servoPin3 39
int trigPin = 9; // trig pin of HC-SR04
int echoPin = 10; // Echo pin of HC-SR04
long duration, distance;
int capacitive = 32;
int val = 0;
void setup() {
delay(random(500,2000)); // delay for random time
Serial.begin(9600);
pinMode(4, OUTPUT); // set Motor pins as output
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(trigPin, OUTPUT); // set trig pin as output
pinMode(echoPin, INPUT); //set echo pin as input to capture reflected waves
pinMode(capacitive, INPUT);
myservo0.attach(servoPin0);
myservo1.attach(servoPin1);
myservo2.attach(servoPin2);
myservo3.attach(servoPin3);
}
void loop() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // send waves for 10 us
delayMicroseconds(10);
duration = pulseIn(echoPin, HIGH); // receive reflected waves
distance = duration / 58.2; // convert to distance
delay(10);
// If you dont get proper movements of your robot then alter the pin numbers
if (distance > 16){
digitalWrite(4, LOW); // move forward
digitalWrite(5, HIGH);
digitalWrite(6, LOW);
digitalWrite(7, HIGH);
}
if (distance < 15){
digitalWrite(4, LOW); //Stop
digitalWrite(5, LOW);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
delay(1000);
digitalWrite(4, HIGH); //movebackword
digitalWrite(5, LOW);
digitalWrite(6, HIGH);
digitalWrite(7, LOW);
delay(300);
digitalWrite(4, LOW); //Stop
digitalWrite(5, LOW);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
delay(1000);
digitalWrite(4, LOW); //move the other direction
digitalWrite(5, HIGH);
digitalWrite(6, LOW);
digitalWrite(7, HIGH);
delay(300);
digitalWrite(4, LOW); //Stop
digitalWrite(5, LOW);
digitalWrite(6, LOW);
digitalWrite(7, LOW);
delay(1000);
}
val = digitalRead(capacitive);
if (val == HIGH) {
myservo0.write(90);
delay(500);
myservo1.write(90);
delay(500);
myservo2.write(90);
delay(500);
myservo3.write(90);
delay(1000);
myservo0.write(180);
delay(500);
myservo1.write(180);
delay(500);
myservo2.write(180);
delay(500);
myservo3.write(180);
delay(1000);
}
}
I attached a photo of the connections I made.
P.S. Sorry for the confusing fritzing breadboard sketch, it's the best that I can currently do.
I don't know what is the problem why when the capacitive proximity sensor detects something and lights up, the servo still doesn't do anything. If it is a connection error or code error please correct me and if there is no problem with it, I'll try to re-check my project again.
