#direction sensor

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Arduino code for the direction sensor with two ultrasonic Ping sensors

//decline servo part

#include <Servo.h> Servo myservo; int pos = 0; int degree = 180;

//decline detection part int detect = 0; int dir = 0;

int detect_previous = 0; int detect_previous2 = 0; int limit = 20;

//decline sensor part const int pingPinLeft = 8; const int pingPinRight = 7;

void setup(){ myservo.attach(3); Serial.begin(9600); }

void loop(){ //ping sensor (readymade code) long durationRight,durationLeft, cmRight, cmLeft; pinMode(pingPinRight, OUTPUT); digitalWrite(pingPinRight, LOW); delayMicroseconds(2); digitalWrite(pingPinRight, HIGH); delayMicroseconds(5); digitalWrite(pingPinRight, LOW); pinMode(pingPinRight, INPUT); durationRight = pulseIn(pingPinRight, HIGH); pinMode(pingPinLeft, OUTPUT); digitalWrite(pingPinLeft, LOW); delayMicroseconds(2); digitalWrite(pingPinLeft, HIGH); delayMicroseconds(5); digitalWrite(pingPinLeft, LOW); pinMode(pingPinLeft, INPUT); durationLeft = pulseIn(pingPinLeft, HIGH); cmRight = microsecondsToCentimeters(durationRight); cmLeft = microsecondsToCentimeters(durationLeft);

/* Serial.print("left"); Serial.print(cmLeft); Serial.println(" "); Serial.print("right"); Serial.print(cmRight); Serial.println(); */

//--detect location of viewer--(left, middle, right, far from) //I didn't understand properly "detect!= 1" part... boolean left = (cmLeft<limit); boolean right = (cmRight<limit);

//if(detect==0){ if(left == 1 && right == 0 && detect != 1) { detect_previous2 = detect_previous; detect_previous = detect; detect = 1; //left:1 }else if (left == 1 && right == 1 && detect != 2){ detect_previous2 = detect_previous; detect_previous = detect; detect = 2;//middle:2 }else if (left == 0 && right == 1 && detect != 3){ detect_previous2 = detect_previous; detect_previous = detect; detect = 3;// right:3 }else if (left == 0 && right ==0 && detect != 4){ detect = 4;//far from: 4 detect_previous2 = detect_previous; detect_previous = detect; } //}

/*--decide the direction of the viewer--*/ //only left->middle->right or the other way around triggers movement, otherwise, no reaction!!

//approaching from the left Serial.print(detect_previous2); Serial.print(" "); Serial.print(detect_previous); Serial.print(" "); Serial.println(detect); if(detect_previous2 ==1){ if(detect_previous ==2){ if(detect == 3){ dir = 1;} else{ dir = 0; } }else { dir = 0; } } //approaching from the center else if (detect_previous2 == 2){ dir = 0; } //approaching from the right else if (detect_previous2 == 3){ if (detect_previous == 2){ if(detect == 1){ dir = -1; }else{ dir = 0; } }else{ dir = 0; } } //not approaching else{ dir = 0; } //move servo 180 degrees at a time if (dir == 1){ Serial.println("moving"); for(; pos < 180; pos += 2) // goes from 0 degrees to 180 degrees { // in steps of 1 degree myservo.write(pos); // tell servo to go to position in variable 'pos' delay(15); // waits 15ms for the servo to reach the position }

}else if (dir == -1) { for(; pos>=1; pos-=2) // goes from 180 degrees to 0 degrees { myservo.write(pos); // tell servo to go to position in variable 'pos' delay(15); // waits 15ms for the servo to reach the position }

} delay(10); Serial.println(dir);

}

// ping function (time to distance) long microsecondsToInches(long microseconds) { return microseconds / 74 / 2; }

long microsecondsToCentimeters(long microseconds) { return microseconds / 29 / 2; }

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