How To Ultrasonics Sensor With DC Motors

                    
1. /*

2. Ultrasonic Sensor with DC motors

3. This example shows how to use Ultrasonic Sensor with DC motors

4. The circuit:

5. – Ultrasonic sensor

6. echo pin connected to digital pin 13 of Arduino

7. trig pin connected to digital pin 12 of Arduino

8. Vcc pin connected to Vcc pin of Arduino

9. Gnd pin connected to Gnd pin of Arduino

10. -Motor 1 and 2

11. connected to output pins of driver IC

12.

13. -Driver IC

14. input and enable pins connected to digital pins of Arduino

15.

16. http://hackerspacekarachi.org/

17. */

18.

19. #define echoPin 13 // define output pin

20. #define trigPin 12 //define input pin

21. long duration; //store time taken for wave to trvel

22. int distance; // store distance travel by wave

23. int motor1pin1 = 8; //input pin of Driver ic for 1st motor connected to digital pin 8

24. int motor1pin2 = 9; //input pin of Driver ic for 1st motor connected to digital pin 9

25. int enA = 5; //enable pin of Driver ic for 1st motor connected to digital pin 5

26.

27.

28. int motor2pin1 = 10; //input pin of Driver ic for 2nd motor connected to digital pin 10

29. int motor2pin2 = 11;//input pin of Driver ic for 2nd motor connected to digital pin 11

30. int enB = 6; //enable pin of Driver ic for 2nd motor connected to digital pin 6

31.

32. void setup() {

33.

34. Serial.begin(9600); //initiate program

35. pinMode(trigPin, OUTPUT); //read and store output

36. pinMode(echoPin, INPUT); //read and store input

37. pinMode(motor1pin1, OUTPUT); //setting prins to be used as output

38. pinMode(motor1pin2, OUTPUT);

39. pinMode(motor2pin1, OUTPUT);

40. pinMode(motor2pin2, OUTPUT);

41. pinMode(enA, OUTPUT);

42. pinMode(enB, OUTPUT);

43. }

44.

45. void loop() {

46.

47. digitalWrite(trigPin, LOW); //trigger object with delay of 2micsec

48. delayMicroseconds(2);

49. digitalWrite(trigPin, HIGH);

50. delayMicroseconds(10);

51. digitalWrite(trigPin, LOW);

52.

53. duration = pulseIn(echoPin, HIGH); //time taken for the wave to travel

54. distance = (duration * 0.034 / 2); //distance divided by 2 for incoming

55. // outgoing waves

56. Serial.print(“Distance : “); //Display results

57. Serial.print(distance);

58. Serial.println(” cm “);

59. delay(1000);

60. if (distance < 10)

61. {

62. digitalWrite(motor1pin1, HIGH); //for motor 1 to move in one direction

63. digitalWrite(motor1pin2, LOW);

64. digitalWrite(enA, HIGH);

65.

66. digitalWrite(motor2pin1, HIGH); //for motor 2 to move in one direction

67. digitalWrite(motor2pin2, LOW);

68. digitalWrite(enB, HIGH);

69. delay(1000);

70.

71. }

72. }

73.