#include <Ultrasonic.
h>
Ultrasonic ultrosonicFront(12,13);
Ultrasonic ultrasonicLateral(3,4);
// Motor A (Right)
int ENA = 5;
int IN1 = 6;
int IN2 = 7;
// Motor B (Left)
int ENB = 10;
int IN3 = 8;
int IN4 = 4;
int dF;
int dL;
void setup() {
pinMode(ENA, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
}
void Forward(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENA, 200);
analogWrite(ENB, 200);
}
void TurnRight(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENA, 120);
analogWrite(ENB, 170);
}
void TurnLeft(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENA, 180);
analogWrite(ENB, 100);
}
void Stop(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
analogWrite(ENA, 0);
analogWrite(ENB, 0);
}
void loop() {
Forward();
delay(3000);
Stop();
delay(1000);
TurnRight();
delay(1000);
Stop();
delay(1000);
TurnLeft();
delay(1000);
Stop();
delay(1000);
}
