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