Arduino edge avoiding robot

1#include <AFMotor.h>   
2
3AF_DCMotor MotorL(4);  // Motor for drive   Left on M4
4AF_DCMotor MotorR(3);  // Motor for drive Right on M3
5
6//ultrasonic   setup:
7 const int trigPin = A4; // trig pin connected to Arduino's pin A4
8   const int echoPin = A5; // echo pin connected to Arduino's pin A5
9
10// defines   variables
11long duration;
12int distanceCm=0;
13
14void setup() {
15  Serial.begin(115200);       // set up Serial library at 115200 bps
16  Serial.println("*robot Edge Avoidance   Mod*");
17  pinMode(trigPin, OUTPUT);  // Sets the trigPin as an Output
18  pinMode(echoPin,   INPUT);   // Sets the echoPin as an Input
19
20  // Set the speed to start, from   0 (off) to 255 (max speed)
21  // sometimes the motors don't have the same speed,   so use these values tomake your robot move straight
22  MotorL.setSpeed(100);
23   MotorR.setSpeed(100);
24  // turn on motor
25  MotorL.run(RELEASE);
26  MotorR.run(RELEASE);
27}
28
29//   main program loop
30void loop() {
31 distanceCm=getDistance(); // variable to   store the distance measured by the sensor
32   
33 Serial.println(distanceCm);   // print the distance that was measured
34
35  //if the distance is more than   10cm, robot will go backward for 1 second, and turn right for 1 second
36  if(distanceCm   > 7){
37    MotorL.run(BACKWARD);
38    MotorR.run(BACKWARD);
39    delay(500);
40     MotorL.run(FORWARD);
41    MotorR.run(BACKWARD);
42    delay(500);
43  }   else {
44    MotorL.run(FORWARD); //otherwise it will continue forward
45    MotorR.run(FORWARD);
46   }
47}
48
49
50
51//RETURNS THE DISTANCE MEASURED BY THE HC-SR04 DISTANCE   SENSOR
52int getDistance() {
53  int echoTime;                   //variable to   store the time it takes for a ping to bounce off an object
54  int calcualtedDistance;          //variable to store the distance calculated from the echo time
55  
56   //send out an ultrasonic pulse that's 10ms long
57  digitalWrite(trigPin, HIGH);
58   delayMicroseconds(10); 
59  digitalWrite(trigPin, LOW);
60
61  echoTime = pulseIn(echoPin,   HIGH);      //use the pulsein command to see how long it takes for the
62                                          //pulse   to bounce back to the sensor
63
64  calcualtedDistance = echoTime / 58.26;  //calculate   the distance of the object that reflected the pulse (half the bounce time multiplied   by the speed of sound)
65  return calcualtedDistance;              //send back   the distance that was calculated
66}
67

1#include <AFMotor.h>   
2
3AF_DCMotor MotorL(4);  // Motor for drive  Left on M4
4AF_DCMotor MotorR(3);  // Motor for drive Right on M3
5
6//ultrasonic  setup:
7 const int trigPin = A4; // trig pin connected to Arduino's pin A4
8  const int echoPin = A5; // echo pin connected to Arduino's pin A5
9
10// defines  variables
11long duration;
12int distanceCm=0;
13
14void setup() {
15  Serial.begin(115200);      // set up Serial library at 115200 bps
16  Serial.println("*robot Edge Avoidance  Mod*");
17  pinMode(trigPin, OUTPUT);  // Sets the trigPin as an Output
18  pinMode(echoPin,  INPUT);   // Sets the echoPin as an Input
19
20  // Set the speed to start, from  0 (off) to 255 (max speed)
21  // sometimes the motors don't have the same speed,  so use these values tomake your robot move straight
22  MotorL.setSpeed(100);
23  MotorR.setSpeed(100);
24  // turn on motor
25  MotorL.run(RELEASE);
26  MotorR.run(RELEASE);
27}
28
29//  main program loop
30void loop() {
31 distanceCm=getDistance(); // variable to  store the distance measured by the sensor
32   
33 Serial.println(distanceCm);  // print the distance that was measured
34
35  //if the distance is more than  10cm, robot will go backward for 1 second, and turn right for 1 second
36  if(distanceCm  > 7){
37    MotorL.run(BACKWARD);
38    MotorR.run(BACKWARD);
39    delay(500);
40    MotorL.run(FORWARD);
41    MotorR.run(BACKWARD);
42    delay(500);
43  }  else {
44    MotorL.run(FORWARD); //otherwise it will continue forward
45    MotorR.run(FORWARD);
46  }
47}
48
49
50
51//RETURNS THE DISTANCE MEASURED BY THE HC-SR04 DISTANCE  SENSOR
52int getDistance() {
53  int echoTime;                   //variable to  store the time it takes for a ping to bounce off an object
54  int calcualtedDistance;         //variable to store the distance calculated from the echo time
55  
56  //send out an ultrasonic pulse that's 10ms long
57  digitalWrite(trigPin, HIGH);
58  delayMicroseconds(10); 
59  digitalWrite(trigPin, LOW);
60
61  echoTime = pulseIn(echoPin,  HIGH);      //use the pulsein command to see how long it takes for the
62                                          //pulse  to bounce back to the sensor
63
64  calcualtedDistance = echoTime / 58.26;  //calculate  the distance of the object that reflected the pulse (half the bounce time multiplied  by the speed of sound)
65  return calcualtedDistance;              //send back  the distance that was calculated
66}
67