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@kelliott121
Created May 29, 2016
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#include <L9110.h>
#include <HCSR04.h>
#define HALF_SPEED 127
#define FULL_SPEED 255
#define NUM_DISTANCE_SENSORS 5
#define DEG_180 0
#define DEG_135 1
#define DEG_90 2
#define DEG_45 3
#define DEG_0 4
uint16_t AngleMap[] = {180, 135, 90, 45, 0};
HCSR04* DistanceSensors[] = {new HCSR04(23, 22), new HCSR04(29, 28), new HCSR04(35, 34), new HCSR04(41, 40), new HCSR04(47, 46)};
uint16_t Distances[NUM_DISTANCE_SENSORS];
L9110 motors(9, 8, 3, 2);
void setup()
{
Serial.begin(9600);
pinMode(29, OUTPUT);
pinMode(28, OUTPUT);
}
void loop()
{
updateSensors();
motors.forward(FULL_SPEED);
delay(1000);
motors.backward(FULL_SPEED);
delay(1000);
motors.turnLeft(FULL_SPEED);
delay(1000);
motors.turnRight(FULL_SPEED);
delay(1000);
motors.forward(0);
delay(6000);
}
void updateSensors()
{
for (uint8_t i = 0; i < NUM_DISTANCE_SENSORS; i++)
{
Distances[i] = DistanceSensors[i]->getDistance(CM, 5);
Serial.print(AngleMap[i]);
Serial.print(":");
Serial.println(Distances[i]);
}
}
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