ENGELDEN KAÇAN ROBOT

ENGELDEN KAÇAN ROBOT KODU

const int IN1 = 2;
const int IN2 = 3;
const int IN3 = 4;
const int IN4 = 5;

const int enA = 10;
const int enB = 9;

int hiz = 255;

const int trig = 12;
const int echo = 11;

long sure;
int uzaklik;

void setup() {
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(trig, OUTPUT);
  pinMode(echo, INPUT);
  Serial.begin(9600);
}

void loop() {
  digitalWrite(trig, 0);
  delayMicroseconds(10);
  digitalWrite(trig, 1);
  delayMicroseconds(10);

  sure = pulseIn(echo, 1);
  uzaklik = (0.0343 * sure) / 2;

  if (uzaklik < 30) {
    digitalWrite(IN1, 0);
    digitalWrite(IN2, 1);

    analogWrite(enA, hiz);
    analogWrite(enB, hiz);
  }
  else {
    digitalWrite(IN1, 1);
    digitalWrite(IN2, 0);
    digitalWrite(IN3, 1);
    digitalWrite(IN4, 0);
    analogWrite(enA, hiz);
    analogWrite(enB, hiz);
  }
}