kidslab_20171231.ino

cambot with arduino

int distance;

String MEIREI;

int SPEED_H;

int SPEED;

int L_EN;

int SPEED_M;

int R_EN;

int SPEED_L;

int L_FW;

int L_RV;

int R_FW;

int R_RV;

int pre_directopn;

void COMMAND() {
  if (MEIREI == "FORWARD") {
    analogWrite(6, SPEED);
    analogWrite(5, 0);
    analogWrite(10, SPEED);
    analogWrite(11, 0);
    digitalWrite(L_EN, HIGH);
    digitalWrite(R_EN, HIGH);

  } else if (MEIREI == "BACKWARD") {
    analogWrite(6, 0);
    analogWrite(5, SPEED);
    analogWrite(10, 0);
    analogWrite(11, SPEED);
    digitalWrite(L_EN, HIGH);
    digitalWrite(R_EN, HIGH);
  } else if (MEIREI == "LEFT") {
    analogWrite(10, SPEED);
    analogWrite(11, 0);
    digitalWrite(L_EN, LOW);
    digitalWrite(R_EN, HIGH);
  } else if (MEIREI == "RIGHT") {
    analogWrite(6, SPEED);
    analogWrite(5, 0);
    digitalWrite(L_EN, HIGH);
    digitalWrite(R_EN, LOW);
  } else if (MEIREI == "STOP") {
    digitalWrite(L_EN, LOW);
    digitalWrite(R_EN, LOW);
  }
}

int Sonic_Time_out = 3000;

long Sonic_Timing(){
  digitalWrite(3, LOW);
  delayMicroseconds(2);
  digitalWrite(3, HIGH);
  delayMicroseconds(10);
  digitalWrite(3, LOW);
  long duration = pulseIn(4,HIGH,Sonic_Time_out);
  if ( duration == 0 ){
    duration = Sonic_Time_out;
    digitalWrite(0, HIGH);
    delay(25);
    digitalWrite(0 ,LOW);
    delay(225);
  }
  return duration;
}

void CRUISE() {
  MEIREI = "FORWARD";
  SPEED = SPEED_H;
  COMMAND();
}

void SAFETY() {
  MEIREI = "FORWARD";
  SPEED = SPEED_M;
  COMMAND();
}

// 前にしょうがい物があるときの処理
void COLLISION() {
  MEIREI = "STOP";
  COMMAND();
  delay(300);
  SPEED = SPEED_M;
  MEIREI = "BACKWARD";
  COMMAND();
  delay(1000);
  MEIREI = "STOP";
  COMMAND();
  delay(300);
  if (pre_directopn == 0) {
    SPEED = SPEED_M;
    MEIREI = "RIGHT";
    pre_directopn = 1;

  } else {
    SPEED = SPEED_M;
    MEIREI = "LEFT";
    pre_directopn = 0;

  }
  COMMAND();
  delay(300);
}

void setup()
{
  pinMode(3, OUTPUT);
  pinMode(4, INPUT);
  pinMode(0, OUTPUT);
  pinMode(7, OUTPUT);
  pinMode(12, OUTPUT);
  SPEED_H = 220;
  SPEED_M = 200;
  SPEED_L = 100;
  L_EN = 7;
  L_FW = 6;
  L_RV = 5;
  R_EN = 12;
  R_FW = 10;
  R_RV = 11;
  pre_directopn = 0;
  analogWrite(5, 0);
  analogWrite(6, 0);
  analogWrite(10, 0);
  analogWrite(11, 0);
  digitalWrite(7, LOW);
  digitalWrite(12, LOW);
}


void loop()
{
  distance = Sonic_Timing()/29/2;
 // distance = 20;

  if (distance < 8) {
    COLLISION();

  } else if (distance >= 15) {
    CRUISE();
  } else {
    SAFETY();

  }

  delay(300);

}