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
// blue wire
-int right_motor_forward_pin = 3;
+int right_motor_forward_pin = 2;
// orange wire
int right_motor_backward_pin = 4;
// white wire
// blue wire
int right_trigger_pin = 7;
-
// blue wire
int left_motor_forward_pin = 8;
// orange wire
-int left_motor_backward_pin = 9;
+int left_motor_backward_pin = 13;
// white wire
int left_motor_speed_pin = 10;
// blue wire
int left_trigger_pin = 12;
+// left side LED, blue wire
+int left_led_pin = 9;
+
void on(int pin){
digitalWrite(pin, HIGH);}
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);