Complete Arduino Newbey trying to start a robot

Hi,

first of all hello everyone. I am new qith the forum and with Arduino. I am reading and fighting with the Arduino, but with not previous programming skill is a bit difficult.

I wanted to start a small robot and I found this one: http://www.thingiverse.com/thing:4133

I order some stuff and now they arrived. I have redisigned the 3D model because some parts are very basic, i also changed the ping sensor and order a SRF05 instead of the sharp.

The code for motors works, the code for ping works. My problem is to attach both and use the ping input for interacting with the motor. (I said i am complete newbey).

Someone can help me? Thanks in advance

best regards

/*
Marvin Mk2 Control Code

by J. Mark Weller
*/

#include <AFMotor.h>

AF_DCMotor motor1(3, MOTOR12_64KHZ); // create motor #1, 64KHz pwm
AF_DCMotor motor2(4, MOTOR12_64KHZ); // create motor #2, 64KHz pwm

int sensorPin = 0; // select the input pin for the potentiometer
//int ledPin = 13; // select the pin for the LED
double sensorValue = 0; // variable to store the value coming from the sensor
int iTurnTime = 100; // variable to store the milliseconds of each turn (segment)
int c = 0;

void setup() {
Serial.begin (115200);
Serial.println (“Marvin Mk2.01”);

motor1.setSpeed(255); // set the speed to 255/255
motor2.setSpeed(255); // set the speed to 255/255

// declare the ledPin as an OUTPUT:
//pinMode(ledPin, OUTPUT);
}

void loop() {
if (iReadSensor() < 400)
vMoveFwd();
else
vTurnLeft();
}

int iReadSensor() {
// read the value from the sensor:
sensorValue = analogRead(sensorPin);
if (sensorValue != 0)
{
return sensorValue;
}
}

void vMoveFwd() {
motor1.run(FORWARD); // turn it on going forward
motor2.run(FORWARD); // turn it on going forward
}

void vTurnLeft() {
motor1.run(BACKWARD); // turn it on going forward
motor2.run(FORWARD); // turn it on going forward
delay(iTurnTime);
}

void vStop() {
motor1.run(RELEASE); // turn it on going forward
motor2.run(RELEASE); // turn it on going forward
}

/* HC-SR04 Sensor
https://www.dealextreme.com/p/hc-sr04-ultrasonic-sensor-distance-measuring-module-133696
This sketch reads a HC-SR04 ultrasonic rangefinder and returns the
distance to the closest object in range. To do this, it sends a pulse
to the sensor to initiate a reading, then listens for a pulse
to return. The length of the returning pulse is proportional to
the distance of the object from the sensor.
The circuit:

  • VCC connection of the sensor attached to +5V
  • GND connection of the sensor attached to ground
  • TRIG connection of the sensor attached to digital pin 2
  • ECHO connection of the sensor attached to digital pin 4

Original code for Ping))) example was created by David A. Mellis
Adapted for HC-SR04 by Tautvidas Sipavicius

This example code is in the public domain.
*/

const int trigPin = 19;
const int echoPin = 14;

void setup() {
// initialize serial communication:
Serial.begin(9600);
}

void loop()
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;

// The sensor is triggered by a HIGH pulse of 10 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(trigPin, OUTPUT);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);

// Read the signal from the sensor: 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(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);

// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print(“cm”);
Serial.println();
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.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
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 still have to finish the ping and battery support

int iReadSensor() {
  // read the value from the sensor:
  sensorValue = analogRead(sensorPin); 
  if (sensorValue != 0)
   {  
     return sensorValue;              
   }
}

And the return value if sensorValue is zero?

AWOL: int iReadSensor() {   // read the value from the sensor:   sensorValue = analogRead(sensorPin);   if (sensorValue != 0)    {       return sensorValue;                 } }

And the return value if sensorValue is zero?

Hi Awol,

don't know my friend. That's the old code for the sharp sensor.

thanks