Initial commit

Distance.ino

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+/*
+  Blink
+
+  Turns an LED on for one second, then off for one second, repeatedly.
+
+  Most Arduinos have an on-board LED you can control. On the UNO, MEGA and ZERO
+  it is attached to digital pin 13, on MKR1000 on pin 6. LED_BUILTIN is set to
+  the correct LED pin independent of which board is used.
+  If you want to know what pin the on-board LED is connected to on your Arduino
+  model, check the Technical Specs of your board at:
+  https://www.arduino.cc/en/Main/Products
+
+  modified 8 May 2014
+  by Scott Fitzgerald
+  modified 2 Sep 2016
+  by Arturo Guadalupi
+  modified 8 Sep 2016
+  by Colby Newman
+
+  This example code is in the public domain.
+
+  http://www.arduino.cc/en/Tutorial/Blink
+*/
+
+unsigned long int last_heartbeat_millis = 0;
+int last_value = 0;
+unsigned long int last_heartbeat_ms = 0;
+
+
+int distance() {
+  
+  
+  digitalWrite(2, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(2, LOW);
+  int Zeit = pulseIn(3, HIGH, 20000);
+  int EntfernungL = (Zeit / 2) * 0.03432;
+  delay(100);                       // wait for a second
+
+
+  digitalWrite(4, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(4, LOW);
+  Zeit = pulseIn(5, HIGH, 20000);
+  int EntfernungR = (Zeit / 2) * 0.03432;
+//return EntfernungR;
+  if (EntfernungL < EntfernungR) return EntfernungL;
+  else return EntfernungR;
+  }
+
+// the setup function runs once when you press reset or power the board
+void setup() {
+  pinMode(13, OUTPUT);
+  digitalWrite(13, LOW);  //Stop Platform
+  pinMode(2, OUTPUT);     //Pins for ultrasonic
+  pinMode(3, INPUT);
+  pinMode(4, OUTPUT);
+  pinMode(5, INPUT);
+  pinMode(6, INPUT_PULLUP);    //HEARTBEAT
+
+    Serial.begin(115200);
+}
+
+
+
+
+
+void update_hearbeat()
+{
+  int value = digitalRead(6);
+  if(value != last_value)
+  {
+    last_heartbeat_millis = millis();
+    last_value = value;
+  }
+Serial.println(value);
+}
+
+
+
+// the loop function runs over and over again forever
+void loop() {
+//  digitalWrite(13, HIGH);   // turn the LED on (HIGH is the voltage level)
+// delay(100);                       // wait for a second
+//  digitalWrite(13, LOW);    // turn the LED off by making the voltage LOW
+//  delay(100);                       // wait for a second
+  update_hearbeat();
+  delay(100);                       // wait for a second
+  
+  unsigned long  current_millis = millis();
+  if(((current_millis - last_heartbeat_millis) > (unsigned long) 1000) ||  (distance() < 15))
+  {
+    //STOP
+    Serial.print(current_millis - last_heartbeat_millis);
+    digitalWrite(13, LOW); //STOP
+    Serial.println("Stop");
+    
+  }
+  else
+  {
+    Serial.print(current_millis - last_heartbeat_millis);
+    digitalWrite(13, HIGH);    // If Distance enough activate Motor-drivers
+    Serial.println("RUN");
+  }
+
+
+  Serial.println(distance());
+
+  
+}