Data acquisition

dataAquisition.cpp

@@ -0,0 +1,98 @@
+#include <Servo.h>
+
+int in1 = 10;
+int in2 = 9;
+int in3 = 6;
+int in4 = 5;
+const int EchoPin = 11; 
+const int TriggerPin = 4;
+long duration;
+int distance;
+
+Servo servomotor;
+
+void setup() {
+
+  Serial.begin(9600);
+
+  pinMode(in1, OUTPUT); 
+  pinMode(in2, OUTPUT);
+  pinMode(in3, OUTPUT);
+  pinMode(in4, OUTPUT);
+  pinMode(TriggerPin, OUTPUT);
+  pinMode(EchoPin, INPUT);
+  servomotor.attach(3);
+
+
+}
+int ping(int TriggerPin, int EchoPin, int position_) {
+
+  servomotor.write(position_);
+
+  digitalWrite(TriggerPin, LOW);
+  delayMicroseconds(2);
+  digitalWrite(TriggerPin, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(TriggerPin, LOW);
+
+  duration = pulseIn(EchoPin, HIGH);
+
+  distance = duration * 0.034 / 2; 
+
+  return distance;
+}
+
+int stop_() {
+
+  digitalWrite(in1, LOW);
+  digitalWrite(in2, LOW); 
+  digitalWrite(in3, LOW);
+  digitalWrite(in4, LOW); 
+
+}
+
+void loop() {
+  int cm;
+  cm = ping(TriggerPin, EchoPin, 90);
+
+  if (cm >= 50) {
+    digitalWrite(in1, HIGH); 
+    digitalWrite(in2, LOW);
+    digitalWrite(in3, HIGH);
+    digitalWrite(in4, LOW);
+
+  }
+
+  else {
+    stop_();
+
+    Serial.write('x' + ping(TriggerPin, EchoPin, 0));
+    Serial.write('y' + ping(TriggerPin, EchoPin, 180));
+
+
+    if(Serial.available() > 0) {
+      int message;
+      message = Serial.read();
+
+      if (message == 'a') { 
+
+        digitalWrite(in3, HIGH);
+        digitalWrite(in4, LOW);
+
+      }
+
+      if (message == 'b') { 
+
+        digitalWrite(in1, HIGH); 
+        digitalWrite(in2, LOW);
+
+      }
+    }
+  }
+}
+
+
+
+
+
+