Hello,
I have a code that i wrote for a line following robot. I decided to add a Ultrasonic Sensor HC-SR04 to stop the motor when an object is within a certain range. I have successfully done that however the pulsein() within the code has slowed everything down. This is causing my line following robot to not follow the line since its slowing everything down. Can i possibly use something different rather than pulsein(). Any suggestions?
float duration, distance;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration / 2) * 0.0344;
if (distance <=50){
md.setM1Speed(0);
md.setM2Speed(0);
md.setSpeeds(0,0); //stop
Motor[1].Speed = 0;
Motor[2].Speed = 0;
Line.RegulaceHodnota = 0;
Line.RegulaceKrok = 0;
GP = 0;
GI = 0;
GD = 0;
Line.Zmena = 0;
Line.ZmenaN = 0;