surbyte:
Te he pedido por privado algunas correcciones a tu post. Por favor prestales atención.
Este código contempla que se detenga si distancia es menor a 45 cmts pero lo de 55 cmts es confuso.
/*
- Created by Vasilakis Michalis // 12-12-2014 ver.2
- Project: Control RC Car via Bluetooth with Android Smartphone
- More information at www.ardumotive.com
*/
#include <Wire.h>
#include <LCD.h>
#include <LiquidCrystal_I2C.h>
// Addr, En, Rw, Rs, d4, d5, d6, d7, backlighpin, polarity
LiquidCrystal_I2C lcd( 0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE );
#define LED_OFF 0
#define LED_ON 1
#include "Ultrasonic.h"
// Definimos el sensor ultrasónico
Ultrasonic ultrasonic(7,8); //pin trig, pin echo
int distancia; // variable de distancia del ultrasonico
//L293 Connection
const int motorA1 = 5; // Pin 2 of L293
const int motorA2 = 6; // Pin 7 of L293
const int motorB1 = 10; // Pin 10 of L293
const int motorB2 = 9; // Pin 14 of L293
//Leds connected to Arduino UNO Pin 12
const int lights = 12;
//Buzzer / Speaker to Arduino UNO Pin 3
const int buzzer = 3 ;
//Bluetooth (HC-06 JY-MCU) State pin on pin 2 of Arduino
const int BTState = 2;
//Calculate Battery Level
const float maxBattery = 8.0;// Change value to your max battery voltage level!
int perVolt; // Percentage variable
float voltage = 0.0; // Read battery voltage
int level;
// Use it to make a delay... without delay() function!
long previousMillis = -100010;// -100010=-10sec. to read the first value. If you use 0 then you will take the first value after 10sec.
long interval = 100010; // interval at which to read battery voltage, change it if you want! (101000=10sec)
unsigned long currentMillis; //unsigned long currentMillis;
//Useful Variables
int i=0;
int j=0;
int state;
int vSpeed=200; // Default speed, from 0 to 255
void setup() {
// Set pins as outputs:
pinMode(motorA1, OUTPUT);
pinMode(motorA2, OUTPUT);
pinMode(motorB1, OUTPUT);
pinMode(motorB2, OUTPUT);
pinMode(lights, OUTPUT);
pinMode(BTState, INPUT);
// Initialize serial communication at 9600 bits per second:
Serial.begin(9600);
// parte del codigo de la pantalla
lcd.begin (16,2); // inicializar lcd
// Activamos la retroiluminacion
lcd.setBacklight(LED_ON);
lcd.print("testing...");
}
void loop() {
state = 0;
// medidor
distancia = ultrasonic.Ranging(CM);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(distancia);
lcd.print("cm")
//Stop car when connection lost or bluetooth disconnected
if (digitalRead(BTState)==LOW) {
state='S';
}
//Save income data to variable 'state'
if (Serial.available() > 0){
state = Serial.read();
}
if (distancia < 45)
state = 'S';
//Change speed if state is equal from 0 to 4. Values must be from 0 to 255 (PWM)
switch (state) {
case '0': vSpeed = 0;
break;
case '1': vSpeed = 100;
break;
case '2': vSpeed = 180;
break;
case '3': vSpeed = 200;
break;
case '4': vSpeed = 255;
break;
/Forward*****/
// If state is equal with letter 'F', car will go forward!
case 'F': analogWrite(motorA1, vSpeed);
analogWrite(motorA2, 0);
analogWrite(motorB1, 0);
analogWrite(motorB2, 0);
break;
/Forward Left**/
// If state is equal with letter 'G', car will go forward left
case 'G': analogWrite(motorA1, vSpeed);
analogWrite(motorA2, 0);
analogWrite(motorB1, 200);
analogWrite(motorB2, 0);
break;
/Forward Right**/
// If state is equal with letter 'I', car will go forward right
case 'I': analogWrite(motorA1, vSpeed);
analogWrite(motorA2, 0);
analogWrite(motorB1, 0);
analogWrite(motorB2, 200);
break;
/***********************Backward****************************/
//If state is equal with letter 'B', car will go backward
case 'B': analogWrite(motorA1, 0);
analogWrite(motorA2, vSpeed);
analogWrite(motorB1, 0);
analogWrite(motorB2, 0);
break;
/Backward Left**/
//If state is equal with letter 'H', car will go backward left
case 'H': analogWrite(motorA1, 0);
analogWrite(motorA2, vSpeed);
analogWrite(motorB1, 200);
analogWrite(motorB2, 0);
break;
/Backward Right**/
//If state is equal with letter 'J', car will go backward right
case 'J': analogWrite(motorA1, 0);
analogWrite(motorA2, vSpeed);
analogWrite(motorB1, 0);
analogWrite(motorB2, 200);
break;
/Left**/
//If state is equal with letter 'L', wheels will turn left
case 'L': analogWrite(motorA1, 0);
analogWrite(motorA2, 0);
analogWrite(motorB1, 200);
analogWrite(motorB2, 0);
break;
/Right**/
//If state is equal with letter 'R', wheels will turn right
case 'R': analogWrite(motorA1, 0);
analogWrite(motorA2, 0);
analogWrite(motorB1, 0);
analogWrite(motorB2, 200);
break;
/Lights*****/
//If state is equal with letter 'W', turn leds on or of off
case 'W': if (i==0){
digitalWrite(lights, HIGH);
i=1;
}
else if (i==1){
digitalWrite(lights, LOW);
i=0;
}
state='n';
break;
/Horn sound*****/
//If state is equal with letter 'V', play (or stop) horn sound
case 'V': if (j==0){
tone(buzzer, 1000);//Speaker on
j=1;
}
else if (j==1){
noTone(buzzer); //Speaker off
j=0;
}
state='n';
break;
/Stop*****/
//If state is equal with letter 'S', stop the car
case 'S': analogWrite(motorA1, 0);
analogWrite(motorA2, 0);
analogWrite(motorB1, 0);
analogWrite(motorB2, 0);
break;
}
/Battery******/
//Read battery voltage every 10sec.
currentMillis = millis();
if(currentMillis - (previousMillis) > (interval)) {
previousMillis = currentMillis;
//Read voltage from analog pin A0 and make calibration:
voltage = (analogRead(A0)*5.0 / 1023.0)11.132;
//Calculate percentage...
perVolt = (voltage100)/ maxBattery;
if (perVolt<=75) { level=0; }
else if (perVolt>75 && perVolt<=80) { level=1; } // Battery level
else if (perVolt>80 && perVolt<=85) { level=2; } //Min ------------------------ Max
else if (perVolt>85 && perVolt<=90) { level=3; } // | 0 | 1 | 2 | 3 | 4 | 5 | >
else if (perVolt>90 && perVolt<=95) { level=4; } // ------------------------
else if (perVolt>95) { level=5; }
Serial.println(level);
}
}
Mira que no he usado delay que es lo que detiene el funcionamiento de tu auto de control.
Te explico yo puse que cuando la distancia es menor de 45 cm el coche va marcha atrás para que no se choque, y cuando es mayor de 55 se para. Para que no siga marcha atrás. Porque al quitarlo acelero hasta romperme un cristal jajaja
