[진행중-1]초음파센서-레이더(1)

2019. 4. 3. 13:32

# 하드웨어 구성

아두이노 나노 [SZH-EK017]

초음파센서 [HC-SR04]

L298N V2/Dc Moter/Stepper

스텝모터 [17HS4401]

#소스코드

#define H 1

#define L 0

#define trigpin 11

#define echopin 12

#define delay_time 990

int Motor[4] = {4,5,6,7};

int M_En[2] = {8,9};

int i, deg = 0;

int flag = 0;

float duration, distance;

void setup() {

//pinMode(4, OUTPUT); //A

//pinMode(5, OUTPUT); //B

//pinMode(6, OUTPUT); //An

//pinMode(7, OUTPUT); //Bn

//pinMode(8, OUTPUT); //enable1

//pinMode(9, OUTPUT); //enable2

for (i=0;i<4;i++){

pinMode(Motor[i], OUTPUT);

}

for (i=0;i<2;i++){

pinMode(M_En[i], OUTPUT);

}

pinMode(trigpin, OUTPUT); //Trig

pinMode(echopin, INPUT); //Echo

Serial.begin(9600); //보레이트 설정

}

void M_Enable(){

for (i=0;i<2;i++){

digitalWrite(M_En[i], H);

}

void M_Disable(){

for (i=0;i<2;i++){

digitalWrite(M_En[i], L);

}

void UltraSonic_command(){

/////////////////////////UltraSonic 동작 및 거리계산

////////////////////////////////////////////////// 대충 검색해서 퍼옴 - 구지... 이해할필요까지.. 없어보임.

digitalWrite(trigpin, H);

delay(10);

digitalWrite(trigpin, L);

duration = pulseIn(echopin, H);

distance = ((float)(340*duration) / 10000) /2 ;

/////////////////////////시리얼로 프린트? TX 구문인지...

Serial.print("distance : ");

Serial.println(distance);

}

// 한스텝 동작 -> 거리측정 -> Serial Send

void M_move(int a, int b, int c, int d){

M_Enable();

digitalWrite(4, a); // turn the LED on (HIGH is the voltage level)

digitalWrite(5, b); // turn the LED on (HIGH is the voltage level)

digitalWrite(6, c); // turn the LED on (HIGH is the voltage level)

digitalWrite(7, d); // turn the LED on (HIGH is the voltage level)

UltraSonic_command();

M_Disable();

}

// 오른쪽 동작

void r_Stepping(){

M_move(H,L,L,H);