Why I can not read ping0 and ping1
code :
#include <NewPing.h>
#define SONAR_NUM 3 // Number or sensors.
#define MAX_DISTANCE 200 // Max distance in cm.
#define PING_INTERVAL 33 // Milliseconds between pings.
byte dir = 0;
unsigned long pingTimer[SONAR_NUM]; // When each pings.
unsigned int cm[SONAR_NUM]; // Store ping distances.
uint8_t currentSensor = 0; // Which sensor is active.
NewPing sonar[SONAR_NUM] = { // Sensor object array.
NewPing (10, 13, MAX_DISTANCE),
NewPing (11, 12, MAX_DISTANCE),
NewPing (5, 4, MAX_DISTANCE)
};
const int dangerThresh = 870; // 15cm × 58
const byte speed = 100;
const byte EA = 6;
const byte IA = 7;
const byte EB = 9;
const byte IB = 8;
void setup() {
Serial.begin(9600);
pinMode(IA, OUTPUT);
pinMode(IB, OUTPUT);
pingTimer[0] = millis() + 75; // First ping start in ms.
for (uint8_t i = 1; i < SONAR_NUM; i++)
pingTimer = pingTimer[i - 1] + PING_INTERVAL;
}
void stop() {
- analogWrite(EA, 0);*
- digitalWrite(IA, LOW);*
- analogWrite(EB, 0);*
- digitalWrite(IB, LOW);*
}
void forward() { - analogWrite(EA, speed);*
- digitalWrite(IA, HIGH);*
- analogWrite(EB, speed);*
- digitalWrite(IB, HIGH);*
}
void backward() { - analogWrite(EA, speed);*
- digitalWrite(IA, LOW);*
- analogWrite(EB, speed);*
- digitalWrite(IB, LOW);*
}
void turnRight() { - analogWrite(EA, speed);*
- digitalWrite(IA, LOW);*
- analogWrite(EB, speed);*
- digitalWrite(IB, HIGH);*
}
void turnLeft() { - analogWrite(EA, speed);*
- digitalWrite(IA, HIGH);*
- analogWrite(EB, speed);*
- digitalWrite(IB, LOW); *
}
void echoCheck() { // If ping echo, set distance to array. - if (sonar[currentSensor].check_timer())*
- cm[currentSensor] = sonar[currentSensor].ping_result / US_ROUNDTRIP_CM;*
}
void oneSensorCycle() { // Do something with the results. - for (uint8_t i = 0; i < SONAR_NUM; i++) {*
- Serial.print("ping");*
- Serial.print(i);*
- Serial.print("=");*
_ Serial.print(cm*);_
_ Serial.print("cm ");_
_ }_
_ Serial.println();_
_}_
void loop() {
_ const byte speed = 100;_
_ delay(50);_
_ loopAllPings();_
_}_
void loopAllPings() {
for (uint8_t i = 0; i < SONAR_NUM; i++) {
_ if (millis() >= pingTimer) { // Is it this sensor's time to ping?_
pingTimer += PING_INTERVAL * SONAR_NUM; // Set next time this sensor will be pinged.
if (i == 0 && currentSensor == SONAR_NUM - 1) oneSensorCycle(); // Sensor ping cycle complete, do something with the results.
sonar[currentSensor].timer_stop(); // Make sure previous timer is canceled before starting a new ping (insurance).
_ currentSensor = i; // Sensor being accessed.
cm[currentSensor] = 0; // Make distance zero in case there's no ping echo for this sensor._
sonar[currentSensor].ping_timer(echoCheck); // Do the ping (processing continues, interrupt will call echoCheck to look for echo).
_ }
}*_
* if (cm[0] > dangerThresh && cm[1] > dangerThresh && cm[2] > dangerThresh){ //0 0 0*
* if (dir != 0) { *
* dir = 0;*
* stop(); *
* delay(50);*
* }*
* forward();*
* }*
* else if(cm[0] > dangerThresh && cm[1] > dangerThresh && cm[2] < dangerThresh){ //0 0 1*
* if (dir != 1) { *
* dir = 1;*
* stop(); *
* delay(50);*
* }*
* turnLeft();*
* delay(50); *
* }*
* else if(cm[0] > dangerThresh && cm[1] < dangerThresh && cm[2] < dangerThresh){ //0 1 1*
* if (dir != 1) { *
* dir = 1;*
* stop(); *
* delay(50);*
* }*
* turnLeft();*
* delay(50); *
* }*
* else if(cm[0] < dangerThresh && cm[1] > dangerThresh && cm[2] > dangerThresh){ //1 0 0*
* if (dir != 1) { *
* dir = 1;*
* stop(); *
* delay(50);*
* }*
* turnRight();*
* delay(50); *
* }*
* else if(cm[0] < dangerThresh && cm[1] < dangerThresh && cm[2] > dangerThresh){ //1 1 0*
* if (dir != 1) { *
* dir = 1;*
* stop(); *
* delay(50);*
* }*
* turnLeft();*
* delay(50); *
* }*
* else if(cm[0] > dangerThresh && cm[1] < dangerThresh && cm[2] > dangerThresh){ //0 1 0*
* if (dir != 1) { *
* dir = 1;*
* stop(); *
* delay(50);*
* }*
* turnLeft();*
* delay(50); *
* }*
* else if(cm[0] > dangerThresh && cm[1] < dangerThresh && cm[2] < dangerThresh){ //1 0 1*
* if (dir != 0) { *
* dir = 0;*
* stop(); *
* delay(50);*
* }*
* forward();*
* delay(50); *
* }*
* else if(cm[0] < dangerThresh && cm[1] < dangerThresh && cm[2] < dangerThresh){ //1 1 1*
* if (dir != 1) { *
* dir = 1;*
* stop(); *
* delay(50);*
* }*
* turnRight();*
* delay(50); *
* }*
}
