The error that I’m getting says:
In function ‘void loop()’;
error ‘leftservo’ was not declared in this scope
I’m ready to tear my hair out because I know the fix to this is so easy and I’m just not seeing it.
#include <Servo.h>
Servo myservo;
Servo leftServo;
Servo rightServo;
int pos = 0;
int pos1 = 0;
int pos2 = 0;
int pingPin = 7;
const int ledPin = 13;
int rightDist;
int leftDist;
void setup()
{
Serial.begin(9600);
pinMode (ledPin, OUTPUT);
myservo.attach(9);
}
void loop()
{
pos1+10;
pos-10;
leftservo.write(pos1);
rightservo.write(pos2);
long duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// We give a short LOW pulse beforehand to ensure a clean HIGH pulse.
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print(“cm”);
Serial.println();
if (inches >= 3) {
digitalWrite (ledPin, LOW);
pos=0;
myservo.write(pos);
}
else {
digitalWrite (ledPin, HIGH);
//start of right scan
pos = 180;
myservo.write(pos);
delay (1200); // wait for servo
pinMode(pingPin, OUTPUT); //|||
digitalWrite(pingPin, LOW); //|||
delayMicroseconds(2); //giving short burst telling Ping to Send distance
digitalWrite(pingPin, HIGH);//|||
delayMicroseconds(5); //|||
digitalWrite(pingPin, LOW); //|||
pinMode(pingPin, INPUT); // make Ping an input
duration = pulseIn(pingPin, HIGH);
inches = microsecondsToInches(duration); //converting time into distance
cm = microsecondsToCentimeters(duration);//converting time into distance
inches = rightDist;
Serial.print("right distance = ");//|||
Serial.print(inches);//sends serial data to computer
Serial.println(); //|||
// end of right scan
//beginning of left scan
pos = -180;
myservo.write(pos);
delay(1200);
pinMode(pingPin, OUTPUT); //|||
digitalWrite(pingPin, LOW); //|||
delayMicroseconds(2); //giving short burst telling Ping to Send distance
digitalWrite(pingPin, HIGH);//|||
delayMicroseconds(5); //|||
digitalWrite(pingPin, LOW); //|||
pinMode(pingPin, INPUT); // make Ping an input
duration = pulseIn(pingPin, HIGH);
inches = microsecondsToInches(duration); //converting time into distance
cm = microsecondsToCentimeters(duration);//converting time into distance
inches = leftDist;
Serial.print("right distance = ");//|||
Serial.print(inches);//sends serial data to computer
Serial.println(); //|||
//end of left scan
//beginning of mathematics to determine which directions was
//furthest distance from robot
leftServo.read(pos1);//gets degree of left servo
rightServo.read(pos2);//gets degree of right servo
pos1-360;
pos+360;
leftServo.write(pos1);//back up robot’s left wheel
rightServo.write(pos2);//back up robot’s right wheel
if leftDist < rightDist {
serial.print(“right side is longer”);
pos1+180;
leftServo.write(pos1);
delay(250);//wait for servo
}
else {
serial.print(“left side is longer”);
pos2-180;
rightServo.write(pos2);
delay(250);//wait for servo
}
}
delay(100);
}
long microsecondsToInches(long microseconds)
{
// According to Parallax’s datasheet for the PING))), there are
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
// second). This gives the distance travelled by the ping, outbound
// and return, so we divide by 2 to get the distance of the obstacle.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
return microseconds / 74/ 2;
}
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
}
