Hello all, I found this code on the net to use with my 4 wheel drive robot and ping sensor but I cannot figure out why it is not working properly. When it runs, I can't tell if it uses the ping sensor at all or not because it just goes back and forth and side to side, over and over... I am pretty sure it is because it is running the whole code and running the "define" commands and not just defining them but I really don't know how to fix that because like I have said before, I understand the physical electronics side of arduino and robotics quite well, I really struggle with code though...
#include <NewPing.h>
//Tell the Arduino where the sensor is hooked up
NewPing sonar(12, 13);
int enableA = 11;
int pinA1 = 6;
int pinA2 = 5;
int enableB = 10;
int pinB1 = 4;
int pinB2 = 3;
long inches;
void setup() {
pinMode(enableA, OUTPUT);
pinMode(pinA1, OUTPUT);
pinMode(pinA2, OUTPUT);
pinMode(enableB, OUTPUT);
pinMode(pinB1, OUTPUT);
pinMode(pinB2, OUTPUT);
}
void loop() {
//Run the motors at slightly less than full power
analogWrite(enableA, 200);
analogWrite(enableB, 200);
//Ping the sensor and determine the distance in inches
inches = sonar.ping_in();
//If the robot detects an obstacle less than four inches away, it will back up, then turn left; if no obstacle is detected, it will go forward
if (inches < 4) {
analogWrite(enableA, 255);
analogWrite(enableB, 255);
backward(600);
coast(200);
turnLeft(600);
coast(200);}
else {
forward(1);
}
}
//Define high-level H-bridge commands
void enableMotors()
{
motorAOn();
motorBOn();
}
void disableMotors()
{
motorAOff();
motorBOff();
}
void forward(int time)
{
motorAForward();
motorBForward();
delay(time);
}
void backward(int time)
{
motorABackward();
motorBBackward();
delay(time);
}
void turnLeft(int time)
{
motorABackward();
motorBForward();
delay(time);
}
void turnRight(int time)
{
motorAForward();
motorBBackward();
delay(time);
}
void coast(int time)
{
motorACoast();
motorBCoast();
delay(time);
}
void brake(int time)
{
motorABrake();
motorBBrake();
delay(time);
}
//Define low-level H-bridge commands
//enable motors
void motorAOn()
{
digitalWrite(enableA, HIGH);
}
void motorBOn()
{
digitalWrite(enableB, HIGH);
}
//disable motors
void motorAOff()
{
digitalWrite(enableB, LOW);
}
void motorBOff()
{
digitalWrite(enableA, LOW);
}
//motor A controls
void motorAForward()
{
digitalWrite(pinA1, HIGH);
digitalWrite(pinA2, LOW);
}
void motorABackward()
{
digitalWrite(pinA1, LOW);
digitalWrite(pinA2, HIGH);
}
//motor B controls
void motorBForward()
{
digitalWrite(pinB1, HIGH);
digitalWrite(pinB2, LOW);
}
void motorBBackward()
{
digitalWrite(pinB1, LOW);
digitalWrite(pinB2, HIGH);
}
//coasting and braking
void motorACoast()
{
digitalWrite(pinA1, LOW);
digitalWrite(pinA2, LOW);
}
void motorABrake()
{
digitalWrite(pinA1, HIGH);
digitalWrite(pinA2, HIGH);
}
void motorBCoast()
{
digitalWrite(pinB1, LOW);
digitalWrite(pinB2, LOW);
}
void motorBBrake()
{
digitalWrite(pinB1, HIGH);
digitalWrite(pinB2, HIGH);
}
Thanks for the help! By the way, the H-Bridge and ping sensor are hooked up in a typical way (if there is such a thing)... The components are not in some advanced custom setup that would change their behavior.