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63 lines
1.0 KiB
63 lines
1.0 KiB
4 years ago
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#define TRIG 4
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#define ECHO 5
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#define MOTOR 9
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#define SPEED A0
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#define TRIG_DIST 150 // Min trigger distance (cm)
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#define MOTOR_TIME 5000 // Motor rotation time
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long duration, cm, old, mspeed;
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void setup() {
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Serial.begin(9600);
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pinMode(TRIG, OUTPUT);
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pinMode(ECHO, INPUT);
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pinMode(MOTOR, OUTPUT);
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mspeed = map(analogRead(SPEED), 0, 1024, 0, 255);
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}
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void loop() {
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mspeed = map(analogRead(SPEED), 0, 1024, 0, 255);
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digitalWrite(TRIG, LOW);
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delayMicroseconds(2);
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digitalWrite(TRIG, HIGH);
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delayMicroseconds(10);
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digitalWrite(TRIG, LOW);
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duration = pulseIn(ECHO, HIGH);
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cm = duration / 58;
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Serial.println(cm);
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if(cm <= TRIG_DIST) {
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if(old > TRIG_DIST) {
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for(int i=0; i<mspeed; i++) {
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analogWrite(MOTOR, i);
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delay(30);
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}
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}
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analogWrite(MOTOR, mspeed);
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delay(MOTOR_TIME);
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} else {
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if(old <= TRIG_DIST) {
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for(int i=mspeed; i>0; i--) {
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analogWrite(MOTOR, i);
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delay(20);
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}
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}
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analogWrite(MOTOR, 0);
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}
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old = cm;
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}
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