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int sure = 0;
int mesafe = 0;
const int trig_pin = 3;
const int echo_pin = 2;
const int sag_enable = 11; // ENABLE A
const int sag_ileri = 10; // INPUT 1
const int sag_geri = 9; // INPUT 2
const int sol_ileri = 8; // INPUT 3
const int sol_geri = 7; // INPUT 4
const int sol_enable = 6; // ENABLE B
void setup(){
pinMode(trig_pin, OUTPUT);
pinMode(echo_pin, INPUT );
pinMode(sag_ileri, OUTPUT);
pinMode(sag_geri, OUTPUT);
pinMode(sol_ileri, OUTPUT);
pinMode(sol_geri, OUTPUT);
pinMode(sag_enable, OUTPUT);
pinMode(sol_enable, OUTPUT);
Serial.begin(9600);
}
void loop(){
digitalWrite(trig_pin, HIGH);
delayMicroseconds(10);
digitalWrite(trig_pin, LOW);
sure = pulseIn(echo_pin, HIGH);
mesafe = (sure / 2) / 29.1;
Serial.println(mesafe);
if (mesafe < 10) { // Mesafe 10 cm den küçükse
// Motorlar kitlenerek araç durdurulur
digitalWrite(sag_ileri, LOW);
digitalWrite(sag_geri, LOW);
digitalWrite(sol_ileri, LOW);
digitalWrite(sol_geri, LOW);
delay(500);
// Araç geriye doğru hareket ettirilir
digitalWrite(sag_ileri, LOW);
digitalWrite(sag_geri, HIGH);
digitalWrite(sol_ileri, LOW);
digitalWrite(sol_geri, HIGH);
analogWrite(sag_enable, 200); // Motor hızları 200 PWM
analogWrite(sol_enable, 200);
delay(500);
// Araç sola döndürülür
digitalWrite(sag_ileri, HIGH);
digitalWrite(sag_geri, LOW);
digitalWrite(sol_ileri, LOW);
digitalWrite(sol_geri, HIGH);
analogWrite(sag_enable, 100); // Motor hızları 100 PWM
analogWrite(sol_enable, 100);
delay(500);
}
else if (mesafe >= 10 && mesafe < 40) { // Mesafe 10 cm ile 40 cm arasında ise
// Araç sağa dön
digitalWrite(sag_ileri, LOW);
digitalWrite(sag_geri, HIGH);
digitalWrite(sol_ileri, HIGH);
digitalWrite(sol_geri, LOW);
analogWrite(sag_enable, 200); // Motor hızları 200 PWM
analogWrite(sol_enable, 200);
}
else { // Mesafe 40 cm den büyükse
// Araç ileri git
digitalWrite(sag_ileri, HIGH);
digitalWrite(sag_geri, LOW);
digitalWrite(sol_ileri, HIGH);
digitalWrite(sol_geri, LOW);
analogWrite(sag_enable, 255); // Motor hızları 255 PWM
analogWrite(sol_enable, 255);
}
}
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