Notes

// Sabitler
#define MotorL1 6
#define MotorL2 9
#define MotorLE 5
#define MotorR1 2
#define MotorR2 4
#define MotorRE 3
#define trigPinR 7
#define echoPinR 8
#define trigPinL 12
#define echoPinL 13

#define MIN_DISTANCE 10
#define MAX_DISTANCE 100

// Değişkenler
long gecenSure;
int mesafeL, mesafeR;
int solspeed, sagspeed;
int solyon, soldelay, sagyon, sagdelay;
int motoryon, motorhiz, motordelay;

void setup() {
pinMode(MotorR1, OUTPUT);
pinMode(MotorR2, OUTPUT);
pinMode(MotorL1, OUTPUT);
pinMode(MotorL2, OUTPUT);
pinMode(trigPinR, OUTPUT);
pinMode(echoPinR, INPUT);
pinMode(trigPinL, OUTPUT);
pinMode(echoPinL, INPUT);
Serial.begin(9600);
delay(1000);
}

void loop() {
mesafeL = mesafeOku(trigPinL, echoPinL);
mesafeR = mesafeOku(trigPinR, echoPinR);

if (mesafeL < MIN_DISTANCE && mesafeR < MIN_DISTANCE) {
geri();
delay(400);
} else {
solspeed = motorHizi(mesafeR);
solyon = motoryon;
soldelay = motordelay;

sagspeed = motorHizi(mesafeL);
sagyon = motoryon;
sagdelay = motordelay;

if (herIkiMotorDurdu()) {
geri();
delay(400);

if (mesafeL >= mesafeR) {
solaDon();
delay(900);
Serial.println("Sola dön çalıştı");
} else {
sagaDon();
delay(900);
Serial.println("Sağa dön çalıştı");
}
} else {
motorlariCalistir(solspeed, sagspeed, solyon, sagyon, soldelay, sagdelay);
}
}
}

int mesafeOku(int trigPin, int echoPin) {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
gecenSure = pulseIn(echoPin, HIGH);
int distance = (gecenSure / 2) / 29.1;
return constrain(distance, 1, 100);
}

int motorHizi(int distance) {
if(distance >= 63) {
motoryon = 1;
motorhiz = map(distance, 63, 100, 220, 255);
motordelay = 10;
} else if(distance >= 53) {
motoryon = 1;
motorhiz = map(distance, 53, 62, 180, 219);
motordelay = 20;
} else if(distance >= 43) {
motoryon = 1;
motorhiz = map(distance, 43, 52, 130, 179);
motordelay = 30;
} else if(distance >= 33) {
motoryon = 1;
motorhiz = map(distance, 33, 42, 90, 129);
motordelay = 40;
} else if(distance >= 23) {
motoryon = 1;
motorhiz = map(distance, 23, 32, 60, 89);
motordelay = 50;
} else if(distance >= 13) {
motoryon = 1;
motorhiz = map(distance, 13, 22, 40, 60);
motordelay = 60;
} else if(distance >= 6) {
motoryon = 0;
motorhiz = 40;
motordelay = 50;
} else if(distance >= 1) {
motoryon = 2;
motorhiz = map(distance, 2, 5, 40, 60);
motordelay = 40;
} else {
motoryon = 0;
motorhiz = 200;
motordelay = 50;
}
return motorhiz;
}

void motorlariCalistir(int solhiz, int saghiz, int solyon, int sagyon, int solbekleme, int sagbekleme) {
int d = max(soldelay, sagdelay);
if(solyon == 1) {
digitalWrite(MotorL1, HIGH);
digitalWrite(MotorL2, LOW);
analogWrite(MotorLE, solhiz);
delay(d);
} else if(solyon == 0) {
digitalWrite(MotorL1, LOW);
digitalWrite(MotorL2, LOW);
delay(d);
} else {
digitalWrite(MotorL1, LOW);
digitalWrite(MotorL2, HIGH);
analogWrite(MotorLE, solhiz);
delay(d);
}
if(sagyon == 1) {
digitalWrite(MotorR1, HIGH);
digitalWrite(MotorR2, LOW);
analogWrite(MotorRE, saghiz);
delay(d);
} else if(sagyon == 0) {
digitalWrite(MotorR1, LOW);
digitalWrite(MotorR2, LOW);
delay(d);
} else {
digitalWrite(MotorR1, LOW);
digitalWrite(MotorR2, HIGH);
analogWrite(MotorRE, saghiz);
delay(d);
}
}

void geri() {
digitalWrite(MotorR1, LOW);
digitalWrite(MotorR2, HIGH);
analogWrite(MotorRE, 100);
digitalWrite(MotorL1, LOW);
digitalWrite(MotorL2, HIGH);
analogWrite(MotorLE, 100);
}

void sagaDon() {
digitalWrite(MotorR1, LOW);
digitalWrite(MotorR2, HIGH);
analogWrite(MotorRE, 150);
digitalWrite(MotorL1, HIGH);
digitalWrite(MotorL2, LOW);
analogWrite(MotorLE, 150);
}

void solaDon() {
digitalWrite(MotorR1, HIGH);
digitalWrite(MotorR2, LOW);
analogWrite(MotorRE, 150);
digitalWrite(MotorL1, LOW);
digitalWrite(MotorL2, HIGH);
analogWrite(MotorLE, 150);
}

bool herIkiMotorDurdu() {
return mesafeL < MIN_DISTANCE && mesafeR < MIN_DISTANCE;
}