Telekommunikatsoya texnologiyalari fakulteti 416 20 – guruh talabasi

Loyihalaning С++ dasturidagi kodi:

#define ENA 5

#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define sright 10
#define sleft 2
#define smiddle 4
//set car speed
#define CAR_SPEED 100
typedef unsigned char u8; //Change the name of unsigned char to u8 int rightsensor, leftsensor, middlesensor;
void forward(u8 car_speed){ analogWrite(ENA, car_speed); analogWrite(ENB, car_speed); digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH);} void back(u8 car_speed){ analogWrite(ENA, car_speed); analogWrite(ENB, car_speed); digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW);} void left(u8 car_speed){ analogWrite(ENA, 250);
analogWrite(ENB, 250); digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH);} void right(u8 car_speed){ analogWrite(ENA, 250);
analogWrite(ENB, 250); digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW);} void stop(){ digitalWrite(ENA, LOW); digitalWrite(ENB, LOW);} int x = 0;
long readUltrasonicDistance(int pin){ pinMode(pin, OUTPUT); // Clear the trigger digitalWrite(pin, LOW); delayMicroseconds(2);
// Sets the pin on HIGH state for 10 micro seconds digitalWrite(pin, HIGH);
delayMicroseconds(10); digitalWrite(pin, LOW); pinMode(pin, INPUT);
// Reads the pin, and returns the sound wave travel time in microseconds return pulseIn(pin, HIGH);}
void setup() { pinMode(IN1,OUTPUT); pinMode(IN2,OUTPUT); pinMode(IN3,OUTPUT); pinMode(IN4,OUTPUT); pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); pinMode(sright,INPUT); pinMode(sleft,INPUT); pinMode(smiddle,INPUT); Serial.begin(9600); pinMode(15, INPUT); pinMode(13, OUTPUT); pinMode(A0, INPUT); digitalWrite(13, LOW);} void loop() {
int joystick=analogRead(A0); rightsensor=digitalRead(sright); leftsensor=digitalRead(sleft); middlesensor=digitalRead(smiddle);
int distance=0.01723 * readUltrasonicDistance(15); Serial.println(joystick); Serial.print(" "); Serial.println(rightsensor); Serial.print(" "); Serial.print(middlesensor); Serial.print(" "); Serial.print(leftsensor); Serial.print(" ");
Serial.print("Distance :"+distance);
//detect white l
if (distance>10) { digitalWrite(13, LOW);
if ((rightsensor==0)(joystick<349)) {right(CAR_SPEED);} //detection white on right
else if ((leftsensor==0)(joystick>699)) {left(CAR_SPEED);} //detection white on left
else if ((middlesensor==0)||((joystick>349) && (joystick<698)))
{forward(CAR_SPEED); } //detection white on middle } else{
digitalWrite(ENA, LOW); digitalWrite(ENB, LOW); digitalWrite(13, HIGH);} }