I Need Help For My Ardunio Project(Cleaner Robot)

Projects Programming
1

Hello my dear friends.My project consist of 2 servo 2 dc motors and 3 ultrasonic sensors.Before i added servo motor codes,my system was working smootly.But now,since i added my servo motor codes and cases,my circuit is working wrong.I mean only one servo and one dc motor is working at the same time.Can you guys PLS help to find my error .Thank you..

#include<Servo.h>
 Servo servo1;
 Servo servo2;

int pos=0;
// ön
const int triger_pin =2;
const int echo_pin=3;

//sağ
int triger_pin2 =4 ;
int echo_pin2 = 5;

//sol
int triger_pin3 =6;
int echo_pin3 = 7;

const int sag_i=8;
const int sag_g=9;
const int sol_i=12;
const int sol_g=13;
int sure1;
int mesafe1;
int sure2;
int mesafe2;
int sure3;
int mesafe3;

 // motor 1
int enA = 10; /* Enable girişleri Arduinonun pwm girişlerine bağladık.*/

// motor 2
int enB = 11; /* Enable girişleri Arduinonun pwm girişlerine bağladık.*/






void setup() {
 
 servo1.attach(A2);
 servo2.attach(A3);
 digitalWrite(A2,HIGH);
 digitalWrite(A3,HIGH);
Serial.begin (9600);
 pinMode(triger_pin, OUTPUT);
 pinMode(echo_pin, INPUT);

 pinMode(triger_pin2, OUTPUT);
 pinMode(echo_pin2, INPUT);

 pinMode(triger_pin3, OUTPUT);
 pinMode(echo_pin3, INPUT);

 pinMode(8,OUTPUT);
 pinMode(9,OUTPUT);
 pinMode(10,OUTPUT);
 pinMode(11,OUTPUT);
 pinMode(12,OUTPUT);
 pinMode(13,OUTPUT);

}

void loop() {
 /*-------------------------Servo Motorlar-----------------------*/
 
for(pos=0;pos<=180 ; pos+=11)
{
 servo1.write(pos);
 servo2.write(pos);
 delay(15);
}
for(pos=180;pos>=0 ; pos-=11 )
{
 servo1.write(pos);
 servo2.write(pos);
 delay(15);
}
 

 /* ----------------Ön Sensör----------------------*/
 digitalWrite (triger_pin, HIGH);
 delayMicroseconds (1000);
 digitalWrite (triger_pin, LOW);
 sure1 = pulseIn (echo_pin, HIGH);
 mesafe1 = (sure1/2) / 29.1;

 Serial.print("On sensor:");
 Serial.print(mesafe1); 
 Serial.print("cm");
 Serial.println();

/*--------------------------------------------------*/

/*-----------------Sag Sensör-----------------------*/
 digitalWrite (triger_pin2, HIGH);
 delayMicroseconds (1000);
 digitalWrite (triger_pin2, LOW);
 sure2 = pulseIn (echo_pin2, HIGH);
 mesafe2 = (sure2/2) / 29.1;

 Serial.print("Sag sensor:");
 Serial.print(mesafe2); 
 Serial.print("cm");
 Serial.println();
/*--------------------------------------------------*/

/*-----------------Sol Sensör-----------------------*/
 digitalWrite (triger_pin3, HIGH);
 delayMicroseconds (1000);
 digitalWrite (triger_pin3, LOW);
 sure3 = pulseIn (echo_pin3, HIGH);
 mesafe3 = (sure3/2) / 29.1;

 Serial.print("Sol sensor:");
 Serial.print(mesafe3); 
 Serial.print("cm");
 Serial.println();
/*--------------------------------------------------*/

// Motorlar sabit hızda aynı yöne dönüyorlar.
 // sol motor ileri
 digitalWrite(sag_i, HIGH);
 digitalWrite(sag_g, LOW);
 // Motor 1 için 0~255 arasında bir hız değeri verelim. 255 en üst sınır
 analogWrite(enA, 75);
 // sağ motor ileri
 digitalWrite(sol_i, HIGH);
 digitalWrite(sol_g, LOW);
 // Motor 2 için 0~255 arasında bir hız değeri verelim. 255 en üst sınır
 analogWrite(enB, 75);
 

 /*----------------------------------------------------------*/

 if(mesafe1<30 )//ön sensör
 {
 //motorlar durduruluyor
 digitalWrite(sag_i, LOW);
 digitalWrite(sag_g, LOW); 
 digitalWrite(sol_i, LOW);
 digitalWrite(sol_g, LOW); 

 delay(500);//bir üst fonksiyonun çalışma süresi
 
 // motorlar geriye dönüyor
 digitalWrite(sag_i, LOW);
 digitalWrite(sag_g, HIGH); 
 digitalWrite(sol_i, LOW);
 digitalWrite(sol_g, HIGH);

 delay(500);//bir üst fonksiyonun çalışma süresi

 digitalWrite(sag_i, HIGH);
 digitalWrite(sag_g, LOW);
 digitalWrite(sol_i, LOW);
 digitalWrite(sol_g, HIGH );

 delay(1000);//bir üst fonksiyonun çalışma süresi

 }
 /*------------------------------------------------------------*/
 if(mesafe2<7 )//sağ sensör
 {
 //sağ motor
 digitalWrite(sag_i, HIGH);
 digitalWrite(sag_g, LOW);
 analogWrite(enA,75);

 //sol motor
 digitalWrite(sol_i, LOW);
 digitalWrite(sol_g, HIGH);
 analogWrite(enB,75); 
 

 delay(500);
 }

 /*------------------------------------------------------*/
 if(mesafe3<7 )//sol sensör
 {

 //sağ motor
 digitalWrite(sag_i, LOW);
 digitalWrite(sag_g, HIGH);
 analogWrite(enA, 75);

 //sol motor
 digitalWrite(sol_i, HIGH);
 digitalWrite(sol_g, LOW);
 analogWrite(enB, 75); 

 delay(500);
 }
}
2

See this info from the Servo reference page
"On boards other than the Mega, use of the library disables analogWrite() (PWM) functionality on pins 9 and 10, whether or not there is a Servo on those pins."

So you need to move enA to a different pin.

Steve

3

I dont have any digital pins to available.There are all full .How can i use analog pins as a dijital pwm?

4

What Arduino board are you using? There are only 6 PWM pins on most of them - 3,5,6,9,10,11. Servo.h disables two of them but from what I can see you only need to use two, for enA and enB.

The analog pins can be used as standard digital pins but not PWM using analogWrite(). So just move things round so that both enA and enB are on PWM pins. One of the things that only needs digitalWrite() can be moved to one of the analog pins.

Steve

5

Thanks so much bro.