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@dannystaple
Last active December 28, 2015 23:19
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#include <Arduino.h>
class SR04 {
public:
int trigPin;
int echoPin;
void setup() {
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
}
void trigger() {
// the sr04 is triggered by a HIGH pulse of 10 or more microseconds.
// Short low pulse, clean high, then low.
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(11);
digitalWrite(trigPin, LOW);
}
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 / 58; // (use 148 for inches)
}
long readDist() {
trigger();
// The echo pin is used to read the signal from the hc-sr04. 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.
long duration = pulseIn(echoPin, HIGH);
// convert the time into a distance
int cm = microsecondsToCentimeters(duration);
return cm;
}
};
void setup() {
setup motors
setup sensors
start moving forward
}
void loop() {
read sensors
while either below threshold:
if left sensor is closer:
turn right a bit
else while right sensor is closer:
turn left bit
keep going forward
}
motors.forward();
motors.turnLeft();
motors.turnRight();
#include "TurtleMotors.h"
#include "DistanceSensor.h"
//Define the devices
Motor motor_left = {3, 4, 5};
Motor motor_right = {10, 8, 9};
TurtleMotors motors = {motor_left, motor_right, 255, 100};
SR04 sensor_left = {11, 12};
SR04 sensor_right = {6, 7};
void setup() {
motors.setup();
sensor_left.setup();
sensor_right.setup();
motors.forward(0);
}
//Threshold to avoid at
#define SENSOR_AVOID_DIST 30
void loop() {
int l = sensor_left.readDist();
int r = sensor_right.readDist();
while (l < SENSOR_AVOID_DIST || r < SENSOR_AVOID_DIST) {
//if left is closer than right
if (l < r) {
motors.turnRight();
} else {
motors.turnLeft();
}
l = sensor_left.readDist();
r = sensor_right.readDist();
}
motors.forward(0);
}
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