Proximity Detector for Microrobots

1
2//  '3-Agustos-2005 Klinikte. Dr.Mustafa Kemal Peker mk.peker@hotmail.com
3//   This code derivated from AVR assembler to Picbasic 'http://www.barello.net/ARC/projects/Proximity/
4//         
5//  20 March 2022 code derivated to arduino for microrobots
6// 21-Mart-2022   Girne minnak evimde.
7// int cr = 13;
8// mySerial.println(cr);  // Carriage   Return
9
10
11
12//#include <SoftwareSerial.h>
13
14//SoftwareSerial mySerial(3,   4); // RX, TX
15const int leftled = 2; // infrared leds 
16const int rightled   = 3;
17const int sensorpin =4; // 3 pin 38khz standard ir receiver sensor
18
19int   cr = 13;
20int prox=0; 
21
22int  f;
23
24
25void setup() {
26   pinMode(2,   OUTPUT);
27   pinMode(3, OUTPUT);
28   pinMode(4,INPUT_PULLUP);
29
30      pinMode(5,   OUTPUT);
31   pinMode(6, OUTPUT);
32  // pinMode(7, OUTPUT);
33   
34  Serial.begin(9600);
35     Serial.write(cr);
36    delay(500); 
37   
38}
39
40
41    
42void loop(){   
43    
44 sense();
45
46 switch (prox) // sayaca göre switch kodunu çalıştır
47   {
48    case 1: // sayaca 1 ise
49      Serial.println(" Right "); 
50      digitalWrite   (5,HIGH);
51      break; // swtich den çık
52
53    case 2: // sayaca 2 ise
54       Serial.println(" Left ");
55      digitalWrite (6,HIGH);
56      break;//   swtich den çık
57
58    case 3: // sayaca 3 ise
59      Serial.println(" Front   "); 
60      digitalWrite (7,HIGH);
61      break;// swtich den çık
62
63    default:   // other valuees returns( or error code)
64      Serial.println(" Open "); 
65   
66  }
67
68delay(200);
69digitalWrite(5,LOW);
70 digitalWrite(6,LOW);
71   digitalWrite(7,LOW);
72 
73}
74  
75
76void sense(){
77
78  prox=0;
79  
80   
81  for (int f = 0; f <= 20; f++) {
82        digitalWrite (rightled,HIGH);
83         delayMicroseconds(7);
84        digitalWrite(rightled,LOW);
85}   
86   
87 
88       if (digitalRead(sensorpin) == LOW) {
89
90       prox=1;
91       
92   
93  }
94
95    delayMicroseconds(255);
96
97for (int f = 0; f   <= 20; f++) {
98        digitalWrite (leftled,HIGH);
99        delayMicroseconds(7);
100         digitalWrite(leftled,LOW);
101        
102  }
103    
104
105
106    if   (digitalRead(sensorpin) == LOW) {
107      prox= prox + 2;
108
109  }
110
111  
112    delayMicroseconds (255);
113
114  digitalWrite(rightled,LOW); // close IR leds
115   digitalWrite(rightled,LOW);
116
117
118
119 
120}
121            
122
123     
124      

1
2//  '3-Agustos-2005 Klinikte. Dr.Mustafa Kemal Peker mk.peker@hotmail.com
3//  This code derivated from AVR assembler to Picbasic 'http://www.barello.net/ARC/projects/Proximity/
4//        
5//  20 March 2022 code derivated to arduino for microrobots
6// 21-Mart-2022  Girne minnak evimde.
7// int cr = 13;
8// mySerial.println(cr);  // Carriage  Return
9
10
11
12//#include <SoftwareSerial.h>
13
14//SoftwareSerial mySerial(3,  4); // RX, TX
15const int leftled = 2; // infrared leds 
16const int rightled  = 3;
17const int sensorpin =4; // 3 pin 38khz standard ir receiver sensor
18
19int  cr = 13;
20int prox=0; 
21
22int  f;
23
24
25void setup() {
26   pinMode(2,  OUTPUT);
27   pinMode(3, OUTPUT);
28   pinMode(4,INPUT_PULLUP);
29
30      pinMode(5,  OUTPUT);
31   pinMode(6, OUTPUT);
32  // pinMode(7, OUTPUT);
33   
34  Serial.begin(9600);
35    Serial.write(cr);
36    delay(500); 
37   
38}
39
40
41    
42void loop(){  
43    
44 sense();
45
46 switch (prox) // sayaca göre switch kodunu çalıştır
47  {
48    case 1: // sayaca 1 ise
49      Serial.println(" Right "); 
50      digitalWrite  (5,HIGH);
51      break; // swtich den çık
52
53    case 2: // sayaca 2 ise
54      Serial.println(" Left ");
55      digitalWrite (6,HIGH);
56      break;//  swtich den çık
57
58    case 3: // sayaca 3 ise
59      Serial.println(" Front  "); 
60      digitalWrite (7,HIGH);
61      break;// swtich den çık
62
63    default:  // other valuees returns( or error code)
64      Serial.println(" Open "); 
65  
66  }
67
68delay(200);
69digitalWrite(5,LOW);
70 digitalWrite(6,LOW);
71  digitalWrite(7,LOW);
72 
73}
74  
75
76void sense(){
77
78  prox=0;
79  
80  
81  for (int f = 0; f <= 20; f++) {
82        digitalWrite (rightled,HIGH);
83        delayMicroseconds(7);
84        digitalWrite(rightled,LOW);
85}   
86  
87 
88       if (digitalRead(sensorpin) == LOW) {
89
90       prox=1;
91      
92   
93  }
94
95    delayMicroseconds(255);
96
97for (int f = 0; f  <= 20; f++) {
98        digitalWrite (leftled,HIGH);
99        delayMicroseconds(7);
100        digitalWrite(leftled,LOW);
101        
102  }
103    
104
105
106    if  (digitalRead(sensorpin) == LOW) {
107      prox= prox + 2;
108
109  }
110
111  
112   delayMicroseconds (255);
113
114  digitalWrite(rightled,LOW); // close IR leds
115  digitalWrite(rightled,LOW);
116
117
118
119 
120}
121            
122
123     
124