Using millis() and if statement to run ultrasonic sensor and servo motors

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1

Hey, I wanted to know how I can use millis() and if statement to run an ultrasonic sensor and 2 servo motors?

2

You need to be a little more specific about what it is you want to do.

What decision is the if meant to make?

3

What have you tried ?
Where are you stuck ?

Take a look at Using millis() for timing. A beginners guide, Several things at the same time and the BlinkWithoutDelay example in the IDE

4

I want the ultrasonic sensor to trigger the servo motors to go backward, left, and right to avoid objects.

5

So where are you stuck ?

6

`I'm stuck on getting everything to working together. I can't get the sensor to trigger the servos.

7

Post your best effort but read this topic first and follow the advice to use code tags when posting code How to get the best out of this forum

8 
#include "SR04.h"
#include <Servo.h>
#define TRIG_PIN 2
#define ECHO_PIN 3
SR04 sr04 = SR04(ECHO_PIN,TRIG_PIN);
long a;
long distance;
long duration;

unsigned long prevTime = millis();
Servo myservo1; //Left leg
Servo myservo2; //Right leg
int pos = 0;

void setup() {
   Serial.begin(9600);
   delay(1000);

   myservo1.attach(7);
   myservo2.attach(8);

     pinMode(TRIG_PIN,OUTPUT);
  pinMode(ECHO_PIN,INPUT);


}

void loop() {
   a=sr04.Distance();
   Serial.print(a);
   Serial.println("cm");
      digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  duration = pulseIn(ECHO_PIN, HIGH);
  distance = duration*0.034/2;

   unsigned long currentTime = millis();

    for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo1.write(pos);              // tell servo to go to position in variable 'pos'
    
    }

     for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    myservo2.write(pos);              // tell servo to go to position in variable 'pos'
    
     }
     for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
    myservo1.write(pos);              // tell servo to go to position in variable 'pos'
                           
  }
  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
    myservo2.write(pos);              // tell servo to go to position in variable 'pos'
  if(currentTime - prevTime > 1000) {
    
                             
  }
  }
}
9

The servo sweeps don't appear to achieve very much.

What are they supposed to do?

10

Servos make the robot walk. I need to change the positions.

11

The positions of what?

That for loop could be replaced by

myservo1.write (180);
12

The positions of the servo, like if I made them go 80 - 90 degrees they will walk and ok I'll change to myservo1.write (180);. Any other changes?

13

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