Notes

#include <Servo.h>
int queue[100],ql=0,qf=0;// queue kullanmadan da olurdu ama sonradan aklımıza gelid ;)
int echo[3]={0,1,11};
int trig[3]={0,0,10};
int kiz=A0;
int dvr=0;
int tdvr=0;
int mdvr;
int ms1_on=8,ms1_arka=7,ms1_hiz=6;
int ms2_on=5,ms2_arka=4,ms2_hiz=3;
int on_u,sag_u,sol_u;
#define sol_base_speed 30
#define sag_base_speed 3
Servo servo1;


void setup() {
for(int i=1;i<3;i++)
pinMode(echo[i],INPUT);
for(int i=1;i<3;i++)
pinMode(trig[i],OUTPUT);
pinMode(ms1_on,OUTPUT);
pinMode(ms1_arka,OUTPUT);
pinMode(ms1_hiz,OUTPUT);
pinMode(ms2_on,OUTPUT);
pinMode(ms2_arka,OUTPUT);
pinMode(ms2_hiz,OUTPUT);
servo1.attach(9);
delay(5000);
}

void loop() {
servo1.write(0);
sol_don();
servo1.write(90);
delay(500);
ileri(0,100);
delay(2000);
dur();
/*
baslangic();
map_al();
bitir();
while(gf<=gl)
{
dvr=0;
tdvr=0;
baslangic();
ilerle(queue[qf]);
topgor();
topal();
don();
while(on_u>15)///////////////////
{
sag_devam();/// başta son yerer gideseye kadar
on_u_al();
}//////////////////////////
sol_don();
on_u_al();//////////////////////////7
while(on_u>15)
{
sag_devam();////son yerde dönüs
on_u_al();
}
sol_don();///////////////////////
t_ilerle(mdvr-queue[fl]);
birak();
don();
on_u_al;//////////////////////////
while(on_u>10)
{
sag_devam();// bitişte son duvara devam
on_u_al();
} //////////////////////////////////
sol_don();
bitir();
}
while(1);*/
}

int on_u_al()
{
digitalWrite(trig[2], LOW);
delayMicroseconds(5);
digitalWrite(trig[2], HIGH);
delayMicroseconds(10);
digitalWrite(trig[2], LOW);
int sure = pulseIn(echo[2], HIGH);
int uzaklik= sure /29.1/2;
if(uzaklik > 200)
uzaklik = 200;
on_u=uzaklik;
}

int sag_u_al()
{
sag_u=digitalRead(kiz);
}
int sol_u_al()
{
digitalWrite(trig[1], LOW);
delayMicroseconds(5);
digitalWrite(trig[1], HIGH);
delayMicroseconds(10);
digitalWrite(trig[1], LOW);
int sure = pulseIn(echo[1], HIGH);
int uzaklik= sure /29.1/2;
if(uzaklik > 200)
uzaklik = 200;
sol_u=uzaklik;
}

void ileri(int rs,int ls)
{
digitalWrite(ms1_on,HIGH);
digitalWrite(ms1_arka,LOW);
analogWrite(ms1_hiz,sag_base_speed+rs);
digitalWrite(ms2_on,HIGH);
digitalWrite(ms2_arka,LOW);
analogWrite(ms2_hiz,sol_base_speed+ls);
}

void geri()
{
digitalWrite(ms1_on,LOW);
digitalWrite(ms1_arka,HIGH);
analogWrite(ms1_hiz,sag_base_speed);
digitalWrite(ms2_on,LOW);
digitalWrite(ms2_arka,HIGH);
analogWrite(ms2_hiz,sol_base_speed);
}

void dur(){
digitalWrite(ms1_on,HIGH);
digitalWrite(ms1_arka,HIGH);
digitalWrite(ms2_on,HIGH);
digitalWrite(ms2_arka,HIGH);
digitalWrite(ms1_on,LOW);
digitalWrite(ms1_arka,LOW);
digitalWrite(ms2_on,LOW);
digitalWrite(ms2_arka,LOW);
}

void sol_don()
{
digitalWrite(ms1_on,HIGH);
digitalWrite(ms1_arka,LOW);
analogWrite(ms1_hiz,sag_base_speed);
digitalWrite(ms2_arka,HIGH);
digitalWrite(ms2_on,LOW);
analogWrite(ms2_hiz,sol_base_speed);
delay(500);
dur();
}



void sag_don()
{
digitalWrite(ms1_on,LOW);
digitalWrite(ms1_arka,HIGH);
analogWrite(ms1_hiz,sag_base_speed);
digitalWrite(ms2_arka,LOW);
digitalWrite(ms2_on,HIGH);
analogWrite(ms2_hiz,sol_base_speed);
delay(500);
dur();
}

void sag_devam()
{
sag_u_al();
if(sag_u)
ileri(10,0);
else
ileri(0,10);

}

void baslangic()
{
on_u_al();
while(on_u>5)
{
sag_devam();
on_u_al();
}
sol_don();
}

int ilerle(int x)
{
while(dvr!=x)
{
sag_devam();
int gsol=sol_u;
sol_u_al();
if(sol_u<15 && gsol-sol_u>7)
{
dvr++;
}
}
}

/*int map_ilerle(int x)
{
while(dvr!=x)
{
sag_devam();
int gsol=sol_u;
sol_u_al();
if(sol_u<15 && gsol-sol_u<7))
{
dvr++;
}
if((sol_u>15 && sol_u<40) && sol_u-gsol<5)
{
queue[ql]=dvr;
ql++;
}
}
}*/

int t_ilerle(int x)
{
while(tdvr!=x)
{
sag_devam();
int gsol=sol_u;
sol_u_al();
if(sol_u<15 && gsol-sol_u>7)
{
tdvr++;
}
}
}

void sur_sol(){
digitalWrite(ms1_on,HIGH);
digitalWrite(ms1_arka,LOW);
digitalWrite(ms1_hiz,sag_base_speed);
digitalWrite(ms2_arka,HIGH) ;
digitalWrite(ms2_on,LOW);
analogWrite(ms2_hiz,sol_base_speed);
}
void sur_sag(){
digitalWrite(ms1_on,LOW) ;
digitalWrite(ms1_arka,HIGH);
analogWrite(ms1_hiz,sag_base_speed);
digitalWrite(ms2_arka,LOW) ;
digitalWrite(ms2_on,HIGH);
analogWrite(ms2_hiz,sol_base_speed);
}

/*int worst_top_gor()
{
sol_u_al();
while(sol_u<8 || sol_u>40)
{
sol_u_al();
sag_devam();
}
dur();
on_u_al();
on_a_al();
sur_sol();
while(on_u-on_a>-4 && on_u-on_a<4)
{
on_u_al();
on_a_al();
}
dur();
}*/

int top_gor()
{
sol_u_al();
int sol=sol_u;
while(sol_u<8 || sol_u>40)
{
sol_u_al();
sag_devam();
sol=sol_u;
}
dur();
sol_don();
dur();
on_u_al();
ileri(0,0);
while(45-sol<on_u)
on_u_al();
dur();
}

int top_al()
{
dur();
servo1.write(90);
}


void birak(){
dur();
ileri(0,0);
delay(400);
sol_don();
ileri(0,0);
dur();
servo1.write(90);
geri();
delay(600);
sag_don();
qf++;
}

int don()
{
sol_u_al();
geri();
while(sol_u<30)
{
sol_u_al();
}
delay(300);
dur();
sag_don();
}

int map_al()
{
dur();
on_u_al();
sol_u_al();
sag_u_al;
while(on_u>15)
{
sag_devam();
int gsol=sol_u;
sol_u_al();
on_u_al();
if(sol_u<5 && gsol-sol_u>7)
{
dvr++;
}
else if((sol_u>5 && sol_u<40) && sol_u-gsol>5)
{
queue[ql]=dvr;
ql++;
}
}
mdvr=dvr;
sol_don();
on_u_al();
while(on_u>15)
{
sag_devam();
on_u_al();
}
sol_don();
dur();
on_u_al();
while(on_u>15)
{
sag_devam();
on_u_al();
}
sol_don();
}

void bitir(){
on_u_al();
while(on_u>60)
{
sag_devam();
on_u_al();
}
}