#include <AFMotor.h> //import your motor shield library
#define trigPin 12 // define the pins of your sensor
#define echoPin 13
AF_DCMotor motor1(1,MOTOR12_64KHZ); // set up motors.
AF_DCMotor motor2(2, MOTOR12_8KHZ);
void setup() {
Serial.begin(9600); // begin serial communitication
Serial.println("Motor test!");
pinMode(trigPin, OUTPUT);// set the trig pin to output (Send sound waves)
pinMode(echoPin, INPUT);// set the echo pin to input (recieve sound waves)
motor1.setSpeed(105); //set the speed of the motors, between 0-255
motor2.setSpeed (105);
}
void loop() {
long duration, distance; // start the scan
digitalWrite(trigPin, LOW);
delayMicroseconds(2); // delays are required for a succesful sensor operation.
digitalWrite(trigPin, HIGH);
delayMicroseconds(10); //this delay is required as well!
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;// convert the distance to centimeters.
if (distance < 25)/*if there's an obstacle 25 centimers, ahead, do the following: */ {
Serial.println ("Close Obstacle detected!" );
Serial.println ("Obstacle Details:");
Serial.print ("Distance From Robot is " );
Serial.print ( distance);
Serial.print ( " CM!");// print out the distance in centimeters.
Serial.println (" The obstacle is declared a threat due to close distance. ");
Serial.println (" Turning !");
motor1.run(FORWARD); // Turn as long as there's an obstacle ahead.
motor2.run (BACKWARD);
}
else {
Serial.println ("No obstacle detected. going forward");
delay (15);
motor1.run(FORWARD); //if there's no obstacle ahead, Go Forward!
motor2.run(FORWARD);
}
}
can also someone help me I also uses three sensor for my obstacle avoidance project the problem is when I edited that code to run three sensor the serial monitor always sensing something and always turning even it is 0 cm, I am stuck in the program, and I desperately need help can someone fix my code please