Hello, I am trying to make robot to move 5 seconds forward directions. before leaves it give a tone. and it check for obstacle in front and print in serial monitor. if there is no obstacle it continue. but and obstacle is there the robot will check for left side. for that I am using servo motor. and up to here all are working
but if it detect any obstacle in left side also then the system needs to check for wright side. it is not working and all system gets upset. I means it starts showing wrong value as distance.
please help me to make this....
and here is the codes I have used....
#define ECHOPIN 12 //Pin to receive echo pulse
#define TRIGPIN 13 //Pin to send trigger pulse
// Controlling a servo position using a potentiometer (variable resistor)
// by Michal Rinott www.miracle.lk
#include <Servo.h>
Servo servo_01; // create servo object to control a servo(for Arm)
Servo servo_02; // create servo object to control a servo(for mini sub)
int pos_01 = 0;
int pos_02 = 0;
int M1A=2; // for notors...
int M1B=3;
int M2A=4;
int M2B=5;
int M3A=6;
int M3B=7;
int M4A=8;
int M4B=9;
int siren_pin=A1; // for gives a tone
int Magnet_pin=A2; // for make magnet..
void setup()
{
Serial.begin(9600);
pinMode(ECHOPIN,INPUT);
pinMode(TRIGPIN,OUTPUT);
pinMode(M1A,OUTPUT);
pinMode(M1B,OUTPUT);
pinMode(M2A,OUTPUT);
pinMode(M2B,OUTPUT);
pinMode(M3A,OUTPUT);
pinMode(M3B,OUTPUT);
pinMode(M4A,OUTPUT);
pinMode(M4B,OUTPUT);
servo_01.attach(10);// attaches the servo on pin 9 to the servo object
servo_02.attach(11);// attaches the servo on pin 9 to the servo object
}
void loop()
{
//Starting Ranging - Generating a trigger of 10us burst
digitalWrite(TRIGPIN,LOW);
delay(2);
digitalWrite(TRIGPIN,HIGH);
delay(10);
digitalWrite(TRIGPIN,LOW);
//Distance Calculation
float distance = pulseIn(ECHOPIN,HIGH);
distance = distance/58;
Serial.print(distance);
Serial.println("cm distance 01");
delay(20);
if(distance>50){
for(int i=0;i<2;i++){
for(int k=20;k<100;k++)
{
tone(siren_pin,10*k,300);
delay(50); // wait for a second
}
for(int j=120;j>20;j--)
{
tone(siren_pin,10*j,300);
delay(50); // wait for a second
}
}
digitalWrite(M1A,HIGH); // move forward...
digitalWrite(M1B,LOW);
digitalWrite(M2A,LOW);
digitalWrite(M2B,HIGH);
delay(5000); //2 seconds...
digitalWrite(M1A,LOW); // stop ...
digitalWrite(M1B,LOW);
digitalWrite(M2A,LOW);
digitalWrite(M2B,LOW);
delay(1000);
for(pos_01 = 90; pos_01 < 180; pos_01 += 1) // goes from 90 degrees to 180 degrees
{ // in steps of 1 degree
servo_01.write(pos_01); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
analogWrite(Magnet_pin,220); //turn magnet on...
digitalWrite(M3A,HIGH); // megnet down...
digitalWrite(M3B,LOW);
delay(3000);
digitalWrite(M3A,LOW); // megnet down...
digitalWrite(M3B,LOW);
delay(5000);
digitalWrite(M3A,LOW); //megnet up...
digitalWrite(M3B,HIGH);
delay(3000);
digitalWrite(M3A,LOW);
digitalWrite(M3B,LOW);
for(pos_01 = 180; pos_01>=90; pos_01-=1) // goes from 180 degrees to 90 degrees
{
servo_01.write(pos_01); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
delay(1000);
analogWrite(Magnet_pin,0); //turn magnet off.
delay(1000);
for(pos_01 = 90; pos_01>=1; pos_01-=1) // goes from 180 degrees to 0 degrees
{
servo_01.write(pos_01); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
delay(1000);
digitalWrite(M3A,HIGH); // megnet down...
digitalWrite(M3B,LOW);
delay(3000);
digitalWrite(M3A,LOW); // megnet down...
digitalWrite(M3B,LOW);
delay(5000);
digitalWrite(M3A,LOW); //megnet up...
digitalWrite(M3B,HIGH);
delay(3000);
digitalWrite(M3A,LOW);
digitalWrite(M3B,LOW);
for(pos_01 = 1; pos_01 < 90; pos_01 += 1) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
servo_01.write(pos_01); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
delay(1000);
analogWrite(Magnet_pin,0); //turn magnet off
delay(1000);
}
else {
if(distance<50)
{
tone(siren_pin,512,300);
delay(200);
for(pos_02 = 90; pos_02>=0; pos_02-=10) // goes from 180 degrees to 0 degrees
{
servo_02.write(pos_02); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
//Starting Ranging - Generating a trigger of 10us burst
digitalWrite(TRIGPIN,LOW);
delay(2);
digitalWrite(TRIGPIN,HIGH);
delay(10);
digitalWrite(TRIGPIN,LOW);
float distance02 = pulseIn(ECHOPIN,HIGH);
distance02 = distance02/58;
Serial.print(distance02);
Serial.println("cm distance 02");
delay(20);
if(distance02>50)
{
digitalWrite(M1A,HIGH); // move forward...
digitalWrite(M1B,LOW);
digitalWrite(M2A,HIGH);
digitalWrite(M2B,LOW);
delay(2500); //2 seconds...
digitalWrite(M1A,LOW); // stop ...
digitalWrite(M1B,LOW);
digitalWrite(M2A,LOW);
digitalWrite(M2B,LOW);
delay(1000);
}
else
{
if(distance02<50)
{
for(pos_02 = 90; pos_02<=180; pos_02+=10) // goes from 90 degrees to 180 degrees
{
servo_02.write(pos_02); // tell servo to go to position in variable 'pos_02'
delay(15); // waits 15ms for the servo to reach the position
}
}
}
}
}
}
