1. Arduino motor control using servo & ultrasonic sensor
Aslı Ergün

2. Servo & Ultrasonic Sensor (Mesafe Ölçmek)

3. Bağlantıları..

4. Örnek-1
#include <Servo.h> #define trigpin 5//set trigpin #define echopin 6//set echopin Servo myservo;// declare servo name type servo int duration, distance;//declare variable for unltrasonic sensor void setup() { Serial.begin(9600); pinMode(trigpin, OUTPUT); pinMode(echopin, INPUT); myservo.attach(2);// attach your servo myservo.writeMicroseconds(1500); // put your setup code here, to run once: } void loop() { myservo.write(90);// always set servo to 90 to position it to the middle //ultrasonic code digitalWrite(trigpin,HIGH);
_delay_ms(500); digitalWrite(trigpin, LOW); duration=pulseIn(echopin,HIGH); distance=(duration/2)/29.1; if(distance <=20)// if ultrasonic sensor detects an obstacle less than 20cm in 90 degree angle. { myservo.write(0); //servo rotates at full speed to the right delay(600); } else myservo.write(90);// else servo stays at 90 degree angle. Serial.print("cm"); //print distance unit cm Serial.println(distance);//distance // put your main code here, to run repeatedly:

5. Örnek-2 void compareDistance() {
if (leftDistance>rightDistance) //if left is less obstructed
leftMotor.write(LBackward);
rightMotor.write(RForward); //turn left
delay(500); }
else if (rightDistance>leftDistance) //if right is less obstructed
leftMotor.write(LForward);
rightMotor.write(RBackward); //turn right
else //if they are equally obstructed
rightMotor.write(RBackward); //turn 180 degrees
delay(1000);
long ping()
// Send out PING))) signal pulse
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
//Get duration it takes to receive echo
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
//Convert duration into distance
return duration / 29 / 2;
#include <Servo.h> //include Servo library const int RForward = 0; const int RBackward = 180; const int LForward = RBackward; const int LBackward = RForward; const int RNeutral = 90; const int LNeutral = 90; //constants for motor speed const int pingPin = 7; const int irPin = 0; //Sharp infrared sensor pin const int dangerThresh = 10; //threshold for obstacles (in cm) int leftDistance, rightDistance; //distances on either side Servo panMotor; Servo leftMotor; Servo rightMotor; //declare motors long duration; //time it takes to recieve PING))) signal void setup() { rightMotor.attach(11); leftMotor.attach(10); panMotor.attach(6); //attach motors to proper pins panMotor.write(90); //set PING))) pan to center } void loop() int distanceFwd = ping(); if (distanceFwd>dangerThresh) //if path is clear leftMotor.write(LForward); rightMotor.write(RForward); //move forward else //if path is blocked leftMotor.write(LNeutral); rightMotor.write(RNeutral); panMotor.write(0); delay(500); rightDistance = ping(); //scan to the right panMotor.write(180); delay(700); leftDistance = ping(); //scan to the left panMotor.write(90); //return to center delay(100); compareDistance();