i am working on a project using three ultrasonic sensors(HC-SR04) .But the problem is i cant get the value of multiple ultrasonic sensors at same time.Only one sensor is reading output i want to check the value of two, three sensors at same time. Here the program shown below .i hope someone will help me with it thank you...!!
/* ForNext Labs
BLIND CANE SENSOR*/
#include <Ultrasonic.h>
#define trig1 8
#define echo1 9
#define trig2 10
#define echo2 11
#define trig3 12
#define echo3 13
#define playR 1
#define playF 2
#define playL 3
#define playRF 4
#define playRL 5
#define playFL 6
#define playRFL 7
Ultrasonic ultrasonic1(trig1, echo1);
Ultrasonic ultrasonic2(trig2, echo2);
Ultrasonic ultrasonic3(trig3, echo3);
void setup()
{
Serial.begin(9600); // begin serial communitication
Serial.println("Initialising..!!");
pinMode(trig1, OUTPUT);// set the trig pin to output (Send sound waves)
pinMode(echo1, INPUT);// set the echo pin to input (recieve sound waves)
pinMode(trig2, OUTPUT);// set the trig pin to output (Send sound waves)
pinMode(echo2, INPUT);// set the echo pin to input (recieve sound waves)
pinMode(trig3, OUTPUT);// set the trig pin to output (Send sound waves)
pinMode(echo3, INPUT);// set the echo pin to input (recieve sound waves)
}
void loop()
{
long duration1, distance1; // start the scan
digitalWrite(trig1, LOW);
delayMicroseconds(2); // delays are required for a succesful sensor operation.
digitalWrite(trig1, HIGH);
delayMicroseconds(10); //this delay is required as well!
digitalWrite(trig1, LOW);
duration1 = pulseIn(echo1, HIGH);
distance1 = (duration1/2) / 29.1;// convert the distance to centimeters.
long duration2, distance2; // start the scan
digitalWrite(trig2, LOW);
delayMicroseconds(2); // delays are required for a succesful sensor operation.
digitalWrite(trig2, HIGH);
delayMicroseconds(10); //this delay is required as well!
digitalWrite(trig2, LOW);
duration2 = pulseIn(echo2, HIGH);
distance2 = (duration2/2) / 29.1; // convert the distance to centimeters.
long duration3, distance3; // start the scan
digitalWrite(trig3, LOW);
delayMicroseconds(2); // delays are required for a succesful sensor operation.
digitalWrite(trig3, HIGH);
delayMicroseconds(10); //this delay is required as well!
digitalWrite(trig3, LOW);
duration3 = pulseIn(echo3, HIGH);
distance3 = (duration3/2) / 29.1; // convert the distance to centimeters.
//CONDITION FOR GUIDANCE
if (distance1 < 30)/*if there's an obstacle in right do the following: */
{
Serial.println("RIGHT");
Serial.print ("Distance From RIGHT is " );
Serial.print ( distance1);
Serial.print ( " CM!");// print out the distance in centimeters.
digitalWrite(playR,HIGH);
delay(400);
}
else if (distance2 < 30)/*if there's an obstacle in front do the following: */
{
Serial.println("FRONT");
Serial.print ("Distance From FRONT is " );
Serial.print ( distance2);
Serial.print ( " CM!"); // print out the distance in centimeters.
digitalWrite(playF,HIGH);
delay(400);
}
else if (distance3 < 30)/*if there's an obstacle in left do the following: */
{
Serial.println("LEFT");
Serial.print ("Distance From LEFT is " );
Serial.print ( distance3);
Serial.print ( " CM!");// print out the distance in centimeters.
digitalWrite(playL,HIGH);
delay(400);
}
else if (distance1 < 30 && distance2 < 30)/*if there's an obstacle in right&front do the following: */
{
Serial.println("RIGHT & FRONT");
Serial.print ("Distance From RIGHT&FRONT is " );
Serial.print ( distance2);
Serial.print ( distance1);
Serial.print ( " CM!");// print out the distance in centimeters.
digitalWrite(playRF,HIGH);
delay(400);
}
else if (distance1 < 30 && distance3 < 30)/*if there's an obstacle in right&LEFT do the following: */
{
Serial.println("RIGHT & LEFT");
Serial.print ("Distance From RIGHT&LEFT is " );
Serial.print ( distance1);
Serial.print ( distance3);
Serial.print ( " CM!");// print out the distance in centimeters.
digitalWrite(playRL,HIGH);
delay(400);
}
else if (distance2 < 30 && distance3 < 30)/*if there's an obstacle in left&front do the following: */
{
Serial.println("LEFT & FRONT");
Serial.print ("Distance From LEFT&FRONT is " );
Serial.print ( distance2);
Serial.print ( distance3);
Serial.print ( " CM!");// print out the distance in centimeters.
digitalWrite(playFL,HIGH);
delay(400);
}
else if (distance1 < 30 && distance2 < 30 && distance3 < 30)/*if there's an obstacle in right&left&front do the following: */
{
Serial.println("RIGHT & LEFT &Back");
Serial.print ("Distance From RIGHT&LEFT is " );
Serial.print ( distance1);
Serial.print ( distance2);
Serial.print ( distance3);
Serial.print ( " CM!"); // print out the distance in centimeters.
digitalWrite(playRFL,HIGH);
delay(400);
}
else
{
Serial.println("walk");
}
}
