NanocarExample.ino

#include <NewPing.h>


#define TRIGGER_PIN  11  // Arduino pin tied to trigger pin on the ultrasonic sensor.
#define ECHO_PIN     15  // Arduino pin tied to echo pin on the ultrasonic sensor.
#define MAX_DISTANCE 108 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.
#define ResistanceA 1

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.

bool isMove;
int motorPower;
bool reverse;

const int sensorChannels = 8;
const int maxNumReadings = 10;
int resistanceAValue = 0;

int smoothingValues[sensorChannels][maxNumReadings];
int smoothingIndex[sensorChannels];
int smoothingTotal[sensorChannels];


// motor port mapping
#define PWM_PIN_A 9
#define THISWAY_PIN_A 7
#define THATWAY_PIN_A 8
#define PWM_PIN_B 10
#define THISWAY_PIN_B 5
#define THATWAY_PIN_B 6

void setup() {

  Serial.begin(9600);
  isMove = true;
  reverse = false;

  motorPower = 100;

  // モーター用のピン設定
  pinMode(9, OUTPUT);  //M1 analogOut
  pinMode(7, OUTPUT);  //M1 DigitalOut Thisway
  pinMode(8, OUTPUT);  //M1 DigitalOut Thatway

  pinMode(10, OUTPUT); //M2 analogOut
  pinMode(5, OUTPUT);  //M2 DigitalOut Thisway
  pinMode(6, OUTPUT);  //M2 DigitalOut Thatway
}

void loop() {

  int sliderValue = analogRead(A6);
  int buttonValue = analogRead(A7);

  int volume = analogRead(A0);

  int sensorValue = readSonar() ;//sonar.ping() / 5 ;

  Serial.println(sensorValue);


  motorPower = sliderValue / 4;

  //Serial.println(buttonValue);

  if (buttonValue < 10 ) {
    isMove = (isMove ? false : true);
  }

  if (volume > 30) {
    reverse = (reverse ? false : true);
  }
  if (isMove) {

    if (sensorValue < 50) {
      stopHere();
      delay(200);
      goBack();
      delay(300);
      turnRight();
      delay(100);
    }
    else if (sensorValue < 150) {
      if (reverse)
        turnLeft();
      else
        turnRight();
      //  delay(50);
    }
    else {
      goFoward();

    }

    /*
     if (reverse) {
       turnLeft();
     }
     else
     {
       turnLeft();
     }
    */
    //モーター1(M1)を出力100で正回転
    analogWrite(9, motorPower);


    //モーター2(M2)を出力255(最大)で逆回転
    analogWrite(10, motorPower);

  }
  else {
    digitalWrite(8, LOW);
    digitalWrite(6, LOW);
  }


  delay(1);
}


void turnRight() {
  digitalWrite(7, LOW);
  digitalWrite(8, HIGH);
  digitalWrite(5, LOW);
  digitalWrite(6, HIGH);
}
void turnLeft() {
  digitalWrite(7, HIGH);
  digitalWrite(8, LOW);
  digitalWrite(5, HIGH);
  digitalWrite(6, LOW);
}

void goFoward() {
  digitalWrite(7, LOW);
  digitalWrite(8, HIGH);
  digitalWrite(5, HIGH);
  digitalWrite(6, LOW);
}
void goBack() {
  digitalWrite(7, HIGH);
  digitalWrite(8, LOW);
  digitalWrite(5, LOW);
  digitalWrite(6, HIGH);
}

void stopHere() {
  digitalWrite(7, LOW);
  digitalWrite(8, LOW);
  digitalWrite(5, LOW);
  digitalWrite(6, LOW);

}
int readSonar() {
  int value;
  delay(5);            // Wait 15ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
  value = sonar.ping() / 5 ; // Send ping, get ping time in microseconds (uS).
  value = smoothingValue(ResistanceA, value, 10);
  if (value == 0) value = 1023;
  return value;
}
int smoothingValue(int channel, int value, int numReadings) {
  int total;
  int index = smoothingIndex[channel];
  total = smoothingTotal[channel] - smoothingValues[channel][index];
  smoothingValues[channel][index] = value;
  smoothingTotal[channel] = total + value;
  smoothingIndex[channel]++;
  if (smoothingIndex[channel] >= numReadings) {
    smoothingIndex[channel] = 0;
  }
  return int(round(smoothingTotal[channel] / (numReadings)));
}