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Arduino Code
184 lines (165 loc) · 3.49 KB
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Arduino Code
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#include <SoftwareSerial.h>
#include <NewPing.h>
const int trigPin = 13, trigPin2 = 3;
const int echoPin = 12, echoPin2 = 2;
long duration,duration2;
int distanceCm, distanceCm2;
int senzor_0 = A0;
int senzor_1 = A1;
int senzor_2 = A2;
int trecere = 0;
int info = 0;
int state = 0;
int directie = 0, directie2 = 0;
int ena = 5;
int in1 = 6;
int in2 = 7;
int in3 = 8;
int in4 = 9;
int enb = 10;
void setup() {
pinMode(ena, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(enb, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(senzor_0,INPUT);
pinMode(senzor_1,INPUT);
pinMode(senzor_2,INPUT);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(trigPin2, OUTPUT);
pinMode(echoPin2, INPUT);
Serial.begin(9600);
digitalWrite(in1,LOW);
digitalWrite(in2,LOW);
digitalWrite(in3,LOW);
digitalWrite(in4,LOW);
}
void loop(){
bluethooth();
senzor1();
}
void bluethooth(){
if(Serial.available() > 0){
info = Serial.read();
state = 0;
}
if (info == '1'){
start();
IR();
if (state == 0){
Serial.println("on");
state = 1;
directie = 1;
}}
else if (info == '0'){
stop();
if (state == 0){
Serial.println("off");
state = 1;
}}
else if (info == '2'){
spate();
directie = 0;
senzor1();
int st = digitalRead(senzor_0);
if (st==0 && directie==0){
Serial.println("Este in garaj");
// delay(1000);
stop();
}}}
void senzor1(){
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distanceCm = duration * 0.0340 / 2;
if(distanceCm < 10 && directie == 1)
{
stop();
Serial.print("Pericol la: ");
Serial.println(distanceCm);
Serial.println(" cm");
}
delayMicroseconds(2);
digitalWrite(trigPin2, LOW);
delayMicroseconds(2);
digitalWrite(trigPin2, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin2, LOW);
duration2 = pulseIn(echoPin2, HIGH);
distanceCm2 = duration2 * 0.0340 / 2;
if(distanceCm2 < 10 && directie != 1){
stop();
Serial.print("Pericol la: ");
Serial.println(distanceCm2);
Serial.println(" cm");
}}
void IR(){
int status0 = digitalRead(senzor_0);
int status1 = digitalRead(senzor_1);
int status2 = digitalRead(senzor_2);
if (status0 == 0 && trecere == 0){
Serial.println("A plecat din garaj");
fata();
trecere += 1;
}
if (trecere==1){
fata();
}
if (status1==0 && trecere==1){
Serial.println("A ajuns la primul senzor");
stop();
delay(5000);
trecere+=1;
}
if (trecere==2){
fata();
}
if (status2==0 && trecere == 2){
Serial.println("A ajuns la al doilea senzor");
stop();
delay(5000);
trecere+=1;
}
if (trecere ==3){
spate();
}
if (status0==0 && trecere==3){
Serial.println("Este in garaj");
stop(); }
}
void fata(){
digitalWrite(in1,LOW);
digitalWrite(in2,HIGH);
analogWrite(ena, 130);
digitalWrite(in3,LOW);
digitalWrite(in4,HIGH);
analogWrite(enb, 130);
}
void spate(){
digitalWrite(in1,HIGH);
digitalWrite(in2,LOW);
analogWrite(ena, 130);
digitalWrite(in3,HIGH);
digitalWrite(in4,LOW);
analogWrite(enb, 130);
}
void stop(){
digitalWrite(in1,LOW);
digitalWrite(in2,LOW);
digitalWrite(ena,0);
digitalWrite(in3,LOW);
digitalWrite(in4,LOW);
digitalWrite(enb,0);
}
void start(){
digitalWrite(in1,HIGH);
digitalWrite(in2,HIGH);
digitalWrite(in3,HIGH);
digitalWrite(in4,HIGH);
}