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robot.ino
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robot.ino
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#include <Servo.h>
Servo myservo;
int pos = 0;
const int trig = 10;
const int echo = 9;
int tien1 = 7;
int tien2 = 5;
int lui1 = 6;
int lui2 = 4;
void dithang();
void disangtrai(int goc);
void disangphai(int goc);
void diluitrai(int goc);
void diluiphai(int goc);
void dilui();
void diquaydau();
void dunglai();
int dokhoangcach();
void setup()
{
myservo.attach(3);
pinMode(trig, OUTPUT);
pinMode(echo, INPUT);
pinMode(tien1, OUTPUT);
pinMode(tien2, OUTPUT);
pinMode(lui1, OUTPUT);
pinMode(lui2, OUTPUT);
digitalWrite(tien1, LOW);
digitalWrite(tien2, LOW);
digitalWrite(lui1, LOW);
digitalWrite(lui2, LOW);
myservo.write(90);
delay(1000);
int kcmaxt = 0, kcmidt = 0;
while (1)
{
int khoangcach, gd, i, gdmax = 0, gdmid = 0, gdmin = 0, kcmax = 0, kc810[21], kc90 = 500;
for (gd = 90; gd >= 15; gd--)
{
myservo.write(gd);
delay(10);
}
for (gd = 15; gd <= 165; gd++)
{
myservo.write(gd);
delay(10);
khoangcach = dokhoangcach();
if (khoangcach < 10)
gdmin = gd;
else
{
if (khoangcach < 30)
gdmid = gd;
else
{
if (khoangcach > kcmax)
{
kcmax = khoangcach;
gdmax = gd;
}
}
}
if (gd >= 80 && gd <= 100)
{
kc810[gd - 80] = dokhoangcach();
if (kc810[gd - 80] == 0)
kc810[gd - 80] = 500;
else
{
if (kc810[gd - 80] < kc90)
kc90 = kc810[gd - 80];
}
}
}
for (gd = 165; gd >= 90; gd--)
{
myservo.write(gd);
delay(10);
}
while (kc90 > 50 && gdmid < 15 && gdmin < 15)
{
if (kc90 == kcmidt)
dilui();
else
{
dithang();
kc90 = dokhoangcach();
}
}
dunglai();
if (gdmin == 0)
{
if (gdmid == 0)
{
if (gdmax < 80)
disangphai(gdmax);
else
disangtrai(gdmax);
}
else
{
if (gdmid < 80)
{
if (gdmax < 80)
diquaydau();
else
disangtrai(gdmax);
}
else
{
if (gdmid > 100)
{
if (gdmax < 80)
disangphai(gdmax);
else
diquaydau();
}
else
{
if (gdmax < 80)
disangphai(gdmax);
else
{
if (gdmax > 100)
disangtrai(gdmax);
else
diquaydau();
}
}
}
}
}
else
{
if (gdmin < 80)
diluiphai(gdmin);
else
{
if (gdmin > 100)
diluitrai(gdmin);
else
dilui();
}
}
i = kcmax / 10;
if (i == kcmaxt)
dilui();
else
kcmaxt = i;
}
}
void loop()
{
}
void dithang()
{
digitalWrite(tien1, HIGH);
digitalWrite(tien2, HIGH);
analogWrite(tien2, 230);
}
void disangtrai(int goc)
{
int temp = abs(goc - 90) * 3;
digitalWrite(tien2, HIGH);
delay(temp);
digitalWrite(tien2, LOW);
}
void disangphai(int goc)
{
int temp = abs(goc - 90) * 3;
digitalWrite(tien1, HIGH);
delay(temp);
digitalWrite(tien1, LOW);
}
void diluitrai(int goc)
{
int temp = abs(goc - 90) * 5;
digitalWrite(lui1, HIGH);
delay(temp);
digitalWrite(lui1, LOW);
}
void diluiphai(int goc)
{
int temp = abs(goc - 90) * 5;
digitalWrite(lui2, HIGH);
delay(temp);
digitalWrite(lui2, LOW);
}
void dilui()
{
digitalWrite(lui1, HIGH);
digitalWrite(lui2, HIGH);
delay(500);
digitalWrite(lui1, LOW);
digitalWrite(lui2, LOW);
}
void diquaydau()
{
digitalWrite(tien1, HIGH);
digitalWrite(lui2, HIGH);
delay(300);
digitalWrite(tien1, LOW);
digitalWrite(lui2, LOW);
}
void dunglai()
{
digitalWrite(tien1, LOW);
digitalWrite(tien2, LOW);
digitalWrite(lui1, LOW);
digitalWrite(lui2, LOW);
}
int dokhoangcach()
{
long tg;
int kc;
digitalWrite(trig, LOW);
delayMicroseconds(2);
digitalWrite(trig, HIGH);
delayMicroseconds(10);
digitalWrite(trig, LOW);
tg = pulseIn(echo, HIGH, 3600000);
kc = int(tg / 2 / 29.412);
return kc;
}