Ultra Sonic Sensor

 Ultra Sonic Sensor Code

int trigPin = 12; /* Trig pin of the sensor is connected to the 6th pin of Arduino */

int echoPin = 11;  /* The echo pin of the sensor is connected to the 7th Pin of the Arduino */

long Duration; //Duration  

long Distance; //Distance  

int leftMotor_1=3;  //motor 1 the first data entry is HIGH OR LOW

int leftMotor_2=2;  //motor 1 the second data entry is HIGH OR LOW

int rightMotor_1=4; //motor 2 the first data entry is HIGH OR LOW

int rightMotor_2=5; //motor 2 the second data entry is HIGH OR LOW

int leftMotor_pwm=6;  // motor 1 Speed ​​control is done with pwm input for

                      // 0-255 analog PWM signal is sent in range

int rightMotor_pwm=9; // motor 2 Speed ​​control is done with pwm input for 

                      // 0-255 analog PWM signal is sent in range

void setup()

{

  for(int i=2;i<=9;i++){ 

  pinMode(i, OUTPUT);}  //2-9 No ports are set as outputs

  pinMode(trigPin,OUTPUT);

  pinMode(echoPin,INPUT);

  

  Serial.begin(9600); // local communication starting

  

}

void loop()

{

ObstacleDetection();

  if(Distance<40){

    Stop();

  delay(10);

    leftTurn();

    delay(2000);}

  else Forward();

  Serial.print("Distance");

  Serial.println(Distance);

  

}

//ObstacleDetection

long ObstacleDetection(){

digitalWrite(trigPin, LOW); /* sensor disabled */

delayMicroseconds(5);

digitalWrite(trigPin, HIGH); /* Commanded to generate the sensore sound wavei */

delayMicroseconds(10);

digitalWrite(trigPin, LOW);  /* Trig pin moved to LOW position to avoid generating new wavesi */ 

Duration = pulseIn(echoPin, HIGH); /* The time it takes for the sound wave to return is measured */

Distance= Duration /29.1/2; /* measured time converts to distance */ 

if(Distance > 200)

    Distance = 200; 

  return Distance;

}

//car going forward

void Forward(){    

digitalWrite(leftMotor_1,HIGH);

digitalWrite(leftMotor_2,LOW);

analogWrite(leftMotor_pwm,150);

digitalWrite(rightMotor_1,HIGH);

digitalWrite(rightMotor_2,LOW);

analogWrite(rightMotor_pwm,150);

}

//back going back or reverce

void Back(){

digitalWrite(leftMotor_1,LOW);

digitalWrite(leftMotor_2,HIGH);

analogWrite(leftMotor_pwm,150);

digitalWrite(rightMotor_1,LOW);

digitalWrite(rightMotor_2,HIGH);

analogWrite(rightMotor_pwm,150);

}

//right turn of car

void Right(){

digitalWrite(leftMotor_1,HIGH);

digitalWrite(leftMotor_2,LOW);

analogWrite(leftMotor_pwm,150);

digitalWrite(rightMotor_1,HIGH);

digitalWrite(rightMotor_2,LOW);

analogWrite(rightMotor_pwm,0);

}

//left turn of car

void leftTurn(){

digitalWrite(leftMotor_1,HIGH);

digitalWrite(leftMotor_2,LOW);

analogWrite(leftMotor_pwm,0);

digitalWrite(rightMotor_1,HIGH);

digitalWrite(rightMotor_2,LOW);

analogWrite(rightMotor_pwm,150);

}

//stop Function

void Stop(){

digitalWrite(leftMotor_1,HIGH);

digitalWrite(leftMotor_2,LOW);

analogWrite(leftMotor_pwm,0);

digitalWrite(rightMotor_1,HIGH);

digitalWrite(rightMotor_2,LOW);

analogWrite(rightMotor_pwm,0);

}