/* Sample sketch code for Arduino Car project
Arduino is supplied with 9V power; Motors with separate 6V supply to pin 8 on L293D
L293D H-Bridge Pins:
1- enable/speed left motor
2- Left Motor Input 1
3- Left Motor Output to + motorlead
4- GND
5- GND
6- Left Motor Output 2 to - motor lead
7- Left Motor Input 2
8- Motor Power + 6V to AA Battery Pack
9- enable/speed for right motor
10- Right Motor Input 1
11- Right Motor Output to + motor lead
12- GND
13- GND
14- Right Motor Output 2 to - motor lead
15- Right Motor Input 2
16- 5 Volt Power from Arduino
Ultrasound Sensor:
Vcc to +5V
GND to GND
Trig Pin 7
Echo Pin 6
------------------------------------------------
*/
// Assign Pins for Left Motor
int motorleftPin1 = 3; // pin 2 on L293D
int motorleftPin2 = 4; // pin 7 on L293D
int enableleftPin = 5; // pin 1 on L293D
//assign pins for right motor
int motorrightPin1 = 9; // pin 10 on L293D
int motorrightPin2 = 10; // pin 15 on L293D
int enablerightPin = 11; // pin 9 on L293D
//set up ultrasound pins on HC-SR04 Ultrasound Sensor and define variables
int echoPin=6;
int trigPin=7;//set up ultrasound pins on HC-SR04
int led = 13;//assign LED pin
int threshold = 25; //assign threshold distance
int duration, cm;
void setup() {
// set the pins you're using as outputs:
pinMode(motorleftPin1, OUTPUT);
pinMode(motorleftPin2, OUTPUT);
pinMode(enableleftPin, OUTPUT); // or analogWrite(enableleftPin, speed 0-255); to adjust speed
pinMode(motorrightPin1, OUTPUT);
pinMode(motorrightPin2, OUTPUT);
pinMode(enablerightPin, OUTPUT); // or analogWrite(enablerightPin, speed 0-255); to adjust speed
// set enablePins high so that motor can turn on; this can also be used as a speed control using the analogWrite command
digitalWrite(enableleftPin, HIGH);
digitalWrite(enablerightPin, HIGH);
Serial.begin (9600); //open serial communications
// set up pins for HC-SR04 ultrasonic sensor
pinMode(trigPin, OUTPUT);
pinMode (echoPin, INPUT);
pinMode(led, OUTPUT);
}
void loop() {
forward();
delay (2000); //go forwards for 2 seconds
backward(); //go backwards for 2 seconds
delay (2000);
}
void forward() { //define going forwards function
digitalWrite(motorleftPin1, LOW); // set pin 2 on L293D low
digitalWrite(motorleftPin2, HIGH); // set pin 7 on L293D high
digitalWrite(motorrightPin1, LOW); // set pin 2 on L293D low
digitalWrite(motorrightPin2, HIGH); // set pin 7 on L293D high
}
void backward() { //define going backwards function
digitalWrite(motorleftPin1, HIGH); // set pin 2 on L293D high
digitalWrite(motorleftPin2, LOW); // set pin 7 on L293D low
digitalWrite(motorrightPin1, HIGH); // set pin 2 on L293D high
digitalWrite(motorrightPin2, LOW); // set pin 7 on L293D low
}
//this function measures distance
void getDistance() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite (trigPin, HIGH);
delayMicroseconds (10);
digitalWrite(trigPin, LOW);
duration= pulseIn(echoPin, HIGH);
cm= duration /29 /2;
delay(100);
}
/* sample ultrasound code-----------------------------------------------
int echoPin=6;
int trigPin=7;//set up ultrasound pins on HC-SR04
int led = 13;//assign LED pin
int threshold = 25;
//assign threshold distance
void setup() {
Serial.begin (9600); //open serial communications
pinMode(trigPin, OUTPUT);
pinMode (echoPin, INPUT);
pinMode(led, OUTPUT);
//describe inputs and outputs
}
void loop () {
int duration, cm;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite (trigPin, HIGH);
delayMicroseconds (10);
digitalWrite(trigPin, LOW);
duration= pulseIn(echoPin, HIGH);
cm= duration /29 /2;
Serial.print(cm);
Serial.println("cm");
delay(100);
if (cm > threshold) {
digitalWrite(led, HIGH); //turn on LED
}
else {
digitalWrite(led,LOW); //otherwise turn it off
}
}
*/
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