hello, I have an ultrasonic ping sensor HC-SR04. I want the ping sensor to stop to rover and Serial.println (“object front”);. then once I push the next key it will move accordingly. What happens is that the rover will automatically tell me object front so I changed the code to print me the distance when this happens and it is constantly 0. any ideas? here is my code:
#include <Servo.h>
int E1 = 6; //M1 Speed Control
int E2 = 5; //M2 Speed Control
int M1 = 8; //M1 Direction Control
int M2 = 7; //M2 Direction Control
#define trigpin 3
#define echopin 10
Servo servo;
int duration, distance;
int servoPin = 9;
int minPulse = 900;
int maxPulse = 2100;
int turnRate = 100;
int refreshTime = 20;
int centerServo = 90 ;
int pulseWidth;
int moveServo;
int leftspeed = 255; //255 is maximum speed
int rightspeed = 255;
int slowspeed = 0;
int nospeed = 0;
long lastPulse = 0;
void setup(void)
{
pinMode(servoPin, OUTPUT);
pinMode(trigpin, OUTPUT);
pinMode(echopin, INPUT);
centerServo = maxPulse - ((maxPulse - minPulse)/2);
pulseWidth = centerServo;
int i;
for(i=5;i<=8;i++)
pinMode(i, OUTPUT);
Serial.begin(9600);
}
void loop(void)
{
digitalWrite(trigpin, HIGH);
delayMicroseconds(1000);
digitalWrite(trigpin, LOW);
duration = pulseIn(echopin, HIGH);
distance = (duration/2) / 29.1;
if (distance < 8) {
halt (slowspeed, nospeed);
Serial.println(distance);}
while (Serial.available() < 1) {} // Wait until a character is received
char val = Serial.read();
switch(val) // Perform an action depending on the command
{
case 'w'://Move Forward
forward (leftspeed,rightspeed);
Serial.println("Moving Forward");
break;
case 's'://Move Backwards
reverse (leftspeed,rightspeed);
break;
case 'a'://Turn Left
left (leftspeed,rightspeed);
break;
case 'd'://Turn Right
right (leftspeed,rightspeed);
break;
case 'f': //Stop
halt (slowspeed,nospeed);
break;
case 'e':
pulseWidth = pulseWidth - 100;
break;
case 'q':
pulseWidth = pulseWidth + 100;
break;
case 'r':
pulseWidth = centerServo;
break;
default:
stop();
break;
if (pulseWidth > maxPulse) { pulseWidth = maxPulse; }
if (pulseWidth < minPulse) { pulseWidth = minPulse; }
}
if (millis() - lastPulse >= refreshTime) {
digitalWrite(servoPin, HIGH); // start the pulse
delayMicroseconds(pulseWidth); // pulse width
digitalWrite(servoPin, LOW); // stop the pulse
lastPulse = millis(); // save the time of the last pulse
}
}
void stop(void) //Stop
{
digitalWrite(E1,LOW);
digitalWrite(E2,LOW);
}
void forward(char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,LOW);}
void reverse (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
}
void left (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void right (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
}
void halt (char a, char b)
{
analogWrite (E1,a);
digitalWrite(M1, LOW);
analogWrite (E2,b);
digitalWrite(M2, LOW);
}