along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
+// right side LED, white wire
+int right_led_pin = 3;
+
// define which pins are connected to which components
-int right_motor_forward_pin = 3;
+// blue wire
+int right_motor_forward_pin = 2;
+// orange wire
int right_motor_backward_pin = 4;
+// white wire
int right_motor_speed_pin = 5;
+// yellow wire
int right_echo_pin = 6;
+// blue wire
int right_trigger_pin = 7;
+// blue wire
int left_motor_forward_pin = 8;
-int left_motor_backward_pin = 9;
+// orange wire
+int left_motor_backward_pin = 13;
+// white wire
int left_motor_speed_pin = 10;
+// yellow wire
int left_echo_pin = 11;
+// blue wire
int left_trigger_pin = 12;
+// left side LED, blue wire
+int left_led_pin = 9;
+
void on(int pin){
digitalWrite(pin, HIGH);}
delay(50);
return ping_time;}
-void backup(int backup_time){
- go(-250, -250);
- delay(backup_time);}
-
-void turn_around(int turn_around_time){
- go(-250, 250);
- delay(turn_around_time);}
-
void setup(){
Serial.begin(9600);
unsigned int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin);
unsigned int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin);
+ int left_led_value = (int)(actual_left_ping_time / 16.0);
+ int right_led_value = (int)(actual_right_ping_time / 16.0);
+
+ Serial.print("left led value = ");
+ Serial.print(left_led_value);
+ Serial.print(", right led value = ");
+ Serial.print(right_led_value);
+
+ analogWrite(left_led_pin, left_led_value);
+ analogWrite(right_led_pin, right_led_value);
+
left_speed = actual_left_ping_time - desired_left_ping_time;
right_speed = actual_right_ping_time - desired_right_ping_time;
- Serial.print("left: ping = ");
+ Serial.print(", left: ping = ");
Serial.print(actual_left_ping_time);
Serial.print(" speed = ");
Serial.print(left_speed);