Code not working for self driving car

[luckyboiiiiii]

I have modified a code so a selfdrivng car that can take the input from two ultrasoundsensensors but it is not working, help. This is my code before I modified it and it works:
Förformatterad text#include <Servo.h>
int pinLB=6; // define pin6 as left back connect with IN1
int pinLF=9; // define pin9 as left forward connect with IN2
int pinRB=10; // define pin10 as right back connect with IN3
int pinRF=11; // define pin11 as right back connect with IN4
int inputPin = A0; // define ultrasonic receive pin (Echo)
int outputPin =A1; // define ultrasonic send pin(Trig)
int Fspeedd = 0; // forward distance
int Rspeedd = 0; // right distance
int Lspeedd = 0; // left distance
int directionn = 0; //
Servo myservo; // new myservo
int delay_time = 250; // set stable time
int Fgo = 8;
int Rgo = 6;
int Lgo = 4;
int Bgo = 2;
// forward
// turn right
// turn left
// back
void setup()
{
Serial.begin(9600);
pinMode(pinLB,OUTPUT);
pinMode(pinLF,OUTPUT);
pinMode(pinRB,OUTPUT);
pinMode(pinRF,OUTPUT);
pinMode(inputPin, INPUT);
pinMode(outputPin, OUTPUT);
myservo.attach(5); // define the servo pin(PWM)
}
void advance(int a) // forward
{
digitalWrite(pinRB,LOW);
digitalWrite(pinRF,HIGH);
digitalWrite(pinLB,LOW);
digitalWrite(pinLF,HIGH);
delay(a * 15);
}
void turnR(int d) //turn right
{
digitalWrite(pinRB,LOW);
digitalWrite(pinRF,HIGH);
digitalWrite(pinLB,HIGH);
digitalWrite(pinLF,LOW);
delay(d * 50);
}
void turnL(int e) //turn left
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,LOW);
digitalWrite(pinLB,LOW);
digitalWrite(pinLF,HIGH);
delay(e * 50);
}
void stopp(int f) //stop
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,HIGH);
digitalWrite(pinLB,HIGH);
digitalWrite(pinLF,HIGH);
delay(f * 100);
}
void back(int g) //back
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,LOW);
digitalWrite(pinLB,HIGH);
digitalWrite(pinLF,LOW);
delay(g * 300);
}
void detection() //test the distance of different direction
{
int delay_time = 250; //
delay(200);
ask_pin_F(); // read forward distance
if(Fspeedd < 25) // if distance less then 10
{
stopp(1);
back(2);
}
if(Fspeedd < 25) // if distance less then 10
{
stopp(1);
ask_pin_L();
delay(delay_time);
ask_pin_R();
delay(delay_time);
if(Lspeedd > Rspeedd) //if left distance more than right distance
{
directionn = Rgo;
}
if(Lspeedd <= Rspeedd)//if left distance not more than right
//distance
{
directionn = Lgo;
}
//if left if (Lspeedd < 10 && Rspeedd < 10) distance and right
//distance both less than 10
{
directionn = Bgo;
}
}
else
{
directionn = Fgo; // forward go
}
}
void ask_pin_F() // test forward distance
{
myservo.write(90);
digitalWrite(outputPin, LOW);
delayMicroseconds(2);
digitalWrite(outputPin, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin, LOW);
float Fdistance = pulseIn(inputPin, HIGH);
Fdistance= Fdistance/5.8/10;
Serial.print("F distance:");
Serial.println(Fdistance);
Fspeedd = Fdistance;
}
void ask_pin_L() // test left distance
{
myservo.write(150);
delay(delay_time);
digitalWrite(outputPin, LOW);
delayMicroseconds(2);
digitalWrite(outputPin, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin, LOW);
float Ldistance = pulseIn(inputPin, HIGH);
Ldistance= Ldistance/5.8/10;
Serial.print("L distance:");
Serial.println(Ldistance);
Lspeedd = Ldistance;
}
void ask_pin_R() // test right distance
{
myservo.write(20);
delay(delay_time);
digitalWrite(outputPin, LOW);
delayMicroseconds(2);
digitalWrite(outputPin, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin, LOW);
float Rdistance = pulseIn(inputPin, HIGH);
Rdistance= Rdistance/5.8/10;
Serial.print("R distance:");
Serial.println(Rdistance);
Rspeedd = Rdistance;
}
void loop()
{
myservo.write(90);
detection();
if(directionn == 2)
{
back(3);
turnL(2);
Serial.print(" Reverse ");
}
if(directionn == 6)
{
back(1);
turnR(6);
Serial.print(" Right ");
}
if(directionn == 4)
{
back(1);
turnL(6);
Serial.print(" Left ");
}
if(directionn == 8)
{
advance(1);
Serial.print(" Advance ");
Serial.print(" ");
}
}Förformatterad text

And this is the code after I modified it:
Förformatterad text#include <Servo.h>
int pinLB=6; // define pin6 as left back connect with IN1
int pinLF=9; // define pin9 as left forward connect with IN2
int pinRB=10; // define pin10 as right back connect with IN3
int pinRF=11; // define pin11 as right back connect with IN4
int inputPin1 = A0; // define ultrasonic receive pin (Echo)
int outputPin1 =A1; // define ultrasonic send pin(Trig)
int inputPin2 = A5; // define obi wan receive pin
int outputPin2 =A5; // define obi wan send pin
int Fspeedd = 0; // forward distance
int Rspeedd = 0; // right distance
int Lspeedd = 0; // left distance
int Bspeedd = 0; // back distance
int directionn = 0; //
Servo myservo1; // new myservo
Servo myservo2;
int delay_time = 250; // set stable time
int Fgo = 8;
int Rgo = 6;
int Lgo = 4;
int Bgo = 2;
// forward
// turn right
// turn left
// back
void setup()
{
Serial.begin(9600);
pinMode(pinLB,OUTPUT);
pinMode(pinLF,OUTPUT);
pinMode(pinRB,OUTPUT);
pinMode(pinRF,OUTPUT);
pinMode(inputPin1, INPUT);
pinMode(outputPin1, OUTPUT);
myservo1.attach(5); // define the servo pin(PWM)

Serial.begin(9600);
pinMode(pinLB,OUTPUT);
pinMode(pinLF,OUTPUT);
pinMode(pinRB,OUTPUT);
pinMode(pinRF,OUTPUT);
pinMode(inputPin2, INPUT);
pinMode(outputPin2, OUTPUT);
myservo2.attach(3); // define the servo pin(PWM)
}
void advance(int a) // forward
{
digitalWrite(pinRB,LOW);
digitalWrite(pinRF,HIGH);
digitalWrite(pinLB,LOW);
digitalWrite(pinLF,HIGH);
delay(a * 15);
}
void turnR(int d) //turn right
{
digitalWrite(pinRB,LOW);
digitalWrite(pinRF,HIGH);
digitalWrite(pinLB,HIGH);
digitalWrite(pinLF,LOW);
delay(d * 50);
}
void turnL(int e) //turn left
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,LOW);
digitalWrite(pinLB,LOW);
digitalWrite(pinLF,HIGH);
delay(e * 50);
}
void stopp(int f) //stop
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,HIGH);
digitalWrite(pinLB,HIGH);
digitalWrite(pinLF,HIGH);
delay(f * 100);
}
void back(int g) //back
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,LOW);
digitalWrite(pinLB,HIGH);
digitalWrite(pinLF,LOW);
delay(g * 1);
}
void ask_pin_F() // test forward distance
{
myservo1.write(90);
digitalWrite(outputPin1, LOW);
delayMicroseconds(2);
digitalWrite(outputPin1, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin1, LOW);
float Fdistance = pulseIn(inputPin1, HIGH);
Fdistance= Fdistance/5.8/10;
Serial.print("F distance:");
Serial.println(Fdistance);
Fspeedd = Fdistance;
}
void ask_pin_B()
{
myservo2.write(90);
digitalWrite(outputPin2, LOW);
delayMicroseconds(2);
digitalWrite(outputPin2, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin2, LOW);
float Bdistance = pulseIn(inputPin2, HIGH);
Bdistance= Bdistance/5.8/10;
Serial.print("B distance:");
Serial.println(Bdistance);
Bspeedd = Bdistance;
}
void ask_pin_L() // test left distance
{
myservo1.write(150);
delay(delay_time);
digitalWrite(outputPin1, LOW);
delayMicroseconds(2);
digitalWrite(outputPin1, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin1, LOW);
float Ldistance = pulseIn(inputPin1, HIGH);
Ldistance= Ldistance/5.8/10;
Serial.print("L distance:");
Serial.println(Ldistance);
Lspeedd = Ldistance;

myservo2.write(20);
delay(delay_time);
digitalWrite(outputPin2, LOW);
delayMicroseconds(2);
digitalWrite(outputPin2, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin2, LOW);
float Rdistance = pulseIn(inputPin2, HIGH);
Rdistance= Rdistance/5.8/10;
Serial.print("R distance:");
Serial.println(Rdistance);
Rspeedd = Rdistance;
}
void ask_pin_R() // test right distance
{
myservo1.write(20);
delay(delay_time);
digitalWrite(outputPin1, LOW);
delayMicroseconds(2);
digitalWrite(outputPin1, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin1, LOW);
float Rdistance = pulseIn(inputPin1, HIGH);
Rdistance= Rdistance/5.8/10;
Serial.print("R distance:");
Serial.println(Rdistance);
Rspeedd = Rdistance;

myservo2.write(150);
delay(delay_time);
digitalWrite(outputPin2, LOW);
delayMicroseconds(2);
digitalWrite(outputPin2, HIGH);
delayMicroseconds(10);
digitalWrite(outputPin2, LOW);
float Ldistance = pulseIn(inputPin2, HIGH);
Ldistance= Ldistance/5.8/10;
Serial.print("L distance:");
Serial.println(Ldistance);
Lspeedd = Ldistance;
}
void detection() //test the distance of different direction
{
int delay_time = 250; //
delay(200);
ask_pin_F(); // read forward distance
if(Fspeedd < 20) // if distance less then 10
{
stopp(1);
back(2);
{
if(Fspeedd < 25) // if distance less then 10
{
}
int delay_time = 250; //
delay(200);
ask_pin_B(); // read forward distance
if(Bspeedd < 20) // if distance less then 10
{
stopp(1);
back(2);
{
if(Bspeedd < 25) // if distance less then 10

stopp(1);
ask_pin_L();
delay(delay_time);
ask_pin_R();
delay(delay_time);
if(Lspeedd > Rspeedd) //if left distance more than right distance

directionn = Rgo;
}
if(Lspeedd <= Rspeedd)//if left distance not more than right
//distance
{
directionn = Lgo;
}
//if left if (Lspeedd < 10 && Rspeedd < 10) distance and right
//distance both less than 10
{
directionn = Bgo;
}
}
else
{

}
directionn = Fgo; // forward go
void loop()
{
myservo.write(90);
detection();
if(directionn == 2)
{
back(3);
turnL(2);
Serial.print(" Reverse ");
}
if(directionn == 6)
{
back(1);
turnR(6);
Serial.print(" Right ");
}
if(directionn == 4)
{
back(1);
turnL(6);
Serial.print(" Left ");
}
if(directionn == 8)
{
advance(1);
Serial.print(" Advance ");
Serial.print(" ");
}
}Förformatterad text

[anon73444976]

Could you maybe use the IDE's auto format tool on the code, then repost it, in code tags?
Also explain more carefully what "doesn't work" means.

Thanks.

[UKHeliBob]

@luckyboiiiiii

This is my code

Please follow the advice given in the link below when posting code, in particular the section entitled 'Posting code and common code problems'

Use code tags (the </> icon above the compose window) to make it easier to read and copy for examination

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[johnwasser]

int inputPin2 = A5; // define obi wan receive pin
int outputPin2 = A5; // define obi wan send pin

pinMode(inputPin2, INPUT);
pinMode(outputPin2, OUTPUT);

  digitalWrite(outputPin2, HIGH);
  delayMicroseconds(10);
  digitalWrite(outputPin2, LOW);
  float Ldistance = pulseIn(inputPin2, HIGH);

You seem to be using a single pin (A5) for both input and output.

Also, loop() contains "myservo.write(90);" but that servo doesn't exist.