project

1. #include <Servo.h> //Servo library
Servo servo_test; //Servo setup
int angle = 0; // Servo setup
// motors
int in1 = 4;
int in2 = 5;
int in3 = 6;
int in4 = 7;
unsigned long previousMillis = 0; // will store last time servos were spinning
unsigned long currentMillis = 0;
const long interval = 5000; // interval between each round of spin
int trigPin = 3; // Trigger for ultrasonic sensor
int echoPin = 2; // Echo for ultrasonic sensor
long duration, cm, inches; // ultrasonic sensor setup
void setup() {
Serial.begin (9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
servo_test.attach(9);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
}
void loop() {
// The sensor is triggered by a HIGH pulse of 10 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
digitalWrite(trigPin, LOW);
delayMicroseconds(5);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Read the signal from the sensor: a HIGH pulse whose duration is the time (in microseconds)
// from the sending of the ping to the reception of its echo off of an object.
pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);
cm = (duration/2) / 29.1; // Convert time into distance
delay(250);
currentMillis = millis();

2. if (cm < 15) {
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
} else {
// Turn on motors in FORWARD motions
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
if (currentMillis - previousMillis >= interval) {
previousMillis = currentMillis; // save the last time spinning the servo
digitalWrite(in1, LOW); // stop all motors
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
for (angle = 0; angle < 360; angle += 5) { // turn servo 1000 degrees
servo_test.write(angle);
delay(5);
}
delay(400);
for (angle = 360; angle>=1; angle-=5) { // reverse servo back to 0 degrees
servo_test.write(angle);
delay(5);
}
delay(1000);
}
}
}