Engelden Kaçan Robot (nano)

Kodlar

const int IN1=5;
const int IN2 = 6;
const int IN3 = 9;
const int IN4 = 10;
const int trig=12;
const int echo=11;

long sure;
int uzaklik;

int hiz=100;

void setup(){
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(trig,OUTPUT);
pinMode(echo,INPUT);
}

void loop(){
digitalWrite(trig,0);
delayMicroseconds(10);
digitalWrite(trig,1);
delayMicroseconds(10);

sure=pulseIn(echo,1);
uzaklik=(0.0343*sure)/2;

//ileri
analogWrite(IN1,hiz);
analogWrite(IN2,0);
analogWrite(IN3,hiz);
analogWrite(IN4,0);

if(uzaklik<40){
//sol
analogWrite(IN1,0);
analogWrite(IN2,hiz);
analogWrite(IN3,hiz);
analogWrite(IN4,0);
}
}