Membuat Simulasi Robot Obstacle Avoider Arduino UNO (Tinkercad)

1 Comment

1. 

   kodingan arduino :

   const int pingPin = A1;
   const int echoPin = A0;

   int kiriA = 13;
   int kiriB = 12;
   int kananA = 9;
   int kananB = 8;
   int en1 = 11;
   int en2 = 10;

   void setup()
   {
   Serial.begin(9600);
   pinMode(kiriA,OUTPUT);
   pinMode(kiriB,OUTPUT);
   pinMode(kananA,OUTPUT);
   pinMode(kananB,OUTPUT);
   pinMode(en1,OUTPUT);
   pinMode(en2,OUTPUT);
   }

   void loop()
   {
   long duration,cm;

   pinMode(pingPin, OUTPUT);
   digitalWrite(pingPin, LOW);
   delayMicroseconds(2);
   digitalWrite(pingPin, HIGH);
   delayMicroseconds(10);
   digitalWrite(pingPin, LOW);

   pinMode(echoPin, INPUT);
   duration = pulseIn(echoPin, HIGH);

   cm = microsecondsToCentimeters(duration);

   Serial.print(cm);
   Serial.print("cm");
   Serial.println();
   delay(100);
   analogWrite(en1,255);
   analogWrite(en2,255);

   if (cm <=50){
   digitalWrite(kiriA,HIGH);
   digitalWrite(kiriB,LOW);
   digitalWrite(kananA,HIGH);
   digitalWrite(kananB,LOW);
   Serial.println ("robot belok kiri");
   }
   else
   {
   digitalWrite(kiriA,LOW);
   digitalWrite(kiriB,HIGH);
   digitalWrite(kananA,LOW);
   digitalWrite(kananB,HIGH);
   Serial.println ("maju");
   }
   }
   long microsecondsToCentimeters(long microseconds)
   {
   return microseconds /29 /2;
   }