Arduino H-Bridge

#include <NewPing.
h> //library for the SR04 ultrasonic sensor

#include <Servo.h>
//servo library, SR04 is mounted on this servo
Servo myservo;
const int TRIGGER_PIN = 28; //modified
const int ECHO_PIN = 29; //modified
const int MAX_DISTANCE = 200; //modified
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
#define runEvery(t) for (static typeof(t) _lasttime;(typeof(t))((typeof(t))milli
s() - _lasttime) > (t);_lasttime += (t))
//define PWM pins.
const int ENA = 2;
const int ENB = 3;
const int ENC = 4;
const int END = 5;
//define direction pins.

const int A_1 = 31;
const int A_2 = 33;
const int B_1 = 35;
const int B_2 = 37;
const int C_1 = 39;
const int C_2 = 41;
const int D_1 = 43;
const int D_2 = 45;
int uS;
//value of SR04 ultrasonic sensor
int distance;
//distance in cm of ultrasonic sensor
int pos = 90;
//start position of servo = 90
int servoDirection = 0; // sweeping left or right

int robotDirection = 0; //0 = forward, 1 = backward, 2 = left, 3 = right
int lastRobotDirection; //last direction of the robot
int distanceCenter;
int distanceLeft;
int distanceRight;
int servoDelay = 20; //with this parameter you can change the sweep speed of the
servo
const int speedLeft = 205; //Left direction speed
const int speedRight = 255 ; // Right direction speed
long previousMillis = 0;
const int interval = 650; //interval to switch between the robotDirection, this
value will determine
//how long the robot will turn left/right when it detects an obstacle
void setup()
{
Serial.begin(115200); //to use the serial monitor
myservo.attach(30); //servo on pin 30
myservo.write(pos); //center servo
delay(1500); // delay so we have some time to put the robot on the floor
}
void loop() {
sweepServo(); //function to sweep the servo
getDistance(); //function to get the distance from the ultrasonic sensor
if (pos >= 15 && pos <= 45)

{
distanceRight = distance; //servo is to the right so measured distance = dista
nceRight
}
if (pos >= 135 && pos <= 165)
{
distanceLeft = distance; //servo is to the left so measured distance = distance
Left
}
if (pos > 70 && pos < 110)
{
distanceCenter = distance; //servo is centred so measured distance = distanceCen
ter
}
if (distanceCenter >= 25)
// coast is clear, full power forward new adding
{
robotDirection = 0;
//move forward
}
else
//obstacle detected, turn left or right?
{
if (distanceLeft > distanceRight)
{
robotDirection = 2; //turn left
}
if (distanceLeft < distanceRight)
{
robotDirection = 3; //turn right
}
if (distanceLeft <= 10 && distanceCenter <= 10 || distanceRight <= 5 && distanc

eCenter <= 10) // new adding
{
robotDirection = 1; // we are stuck, lets try and backup
}
}
unsigned long currentMillis = millis(); //set a timer
if(robotDirection == 0 && robotDirection == lastRobotDirection)
{
forward();
lastRobotDirection = robotDirection;
}
if(robotDirection == 0 && robotDirection != lastRobotDirection && currentMillis
- previousMillis > interval )
{
forward();
previousMillis = currentMillis;
}
{
backward();
}
{
backward();
}
{
left();
}
{
left();
}
{
right();
}
{
right();
}
}
void backward()
{
analogWrite(ENA, 150);
analogWrite(ENB, 150);
analogWrite(ENC, 150);
analogWrite(END, 150);
digitalWrite(A_1, HIGH);
digitalWrite(A_2, LOW);
digitalWrite(B_1, HIGH);
digitalWrite(B_2, LOW);
digitalWrite(C_1, HIGH);
digitalWrite(C_2, LOW);
digitalWrite(D_1, HIGH);
digitalWrite(D_2, LOW);
}
void stop()
{
analogWrite(ENB , 0);
}
void forward()
{
}
void left()
{
}
void right()
{
}
void getDistance()
{
runEvery(40)
//loop for ultrasonic measurement
{
uS = sonar.ping();
distance = uS / US_ROUNDTRIP_CM;
if (uS == NO_ECHO) // if the sensor did not get a ping
{
distance = MAX_DISTANCE;
x vaulue of the sensor
//so the distance must be bigger then the ma
}
Serial.print("Ping: "); //to check distance on the serial monitor
Serial.print(distance);
Serial.println("cm");
}
}
void sweepServo()
{
runEvery(servoDelay) //this loop determines the servo position
{
if(pos < 165 && servoDirection == 0)
// 165 = servo to the left
{
pos = pos + 5;
// +1 was to slow
}
if(pos > 15 && servoDirection == 1)
// 15 = servo to the right
{
pos = pos - 5;
}
}
if (pos == 165 ) //new adding 165
{
servoDirection = 1; //changes the direction
}
if (pos == 15 )// new adding 15
{
servoDirection = 0; //changes the direction
}
myservo.write(pos); //move that servo!
}

Arduino H-Bridge

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Arduino H-Bridge

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#include <NewPing.

h> //library for the SR04 ultrasonic sensor

//servo library, SR04 is mounted on this servo

//define direction pins.

//value of SR04 ultrasonic sensor

//distance in cm of ultrasonic sensor

int pos = 90;

//start position of servo = 90

int servoDirection = 0; // sweeping left or right

sweepServo(); //function to sweep the servo

getDistance(); //function to get the distance from the ultrasonic sensor

if (pos >= 15 && pos <= 45)

// coast is clear, full power forward new adding

//obstacle detected, turn left or right?

if (distanceLeft <= 10 && distanceCenter <= 10 || distanceRight <= 5 && distanc

//loop for ultrasonic measurement

//so the distance must be bigger then the ma

// 165 = servo to the left

// 15 = servo to the right

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