void setup()
{
// put your setup code here, to run once:
Serial.begin(9600);
BT.begin(9600);
pinMode(motorPin1, OUTPUT);
pinMode(motorPin2, OUTPUT);
pinMode(enablePin, OUTPUT);
pinMode(trig, OUTPUT);
pinMode(echo, INPUT);
pinMode(beep, OUTPUT);
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, LOW);
digitalWrite(enablePin, LOW);
delay(1000);
}
void loop()
{
{
distance = Length();
if (distance < 20)
{
Serial.print("WARNING!");
Serial.print("Obstacle!!");
digitalWrite(beep,HIGH);
delay(500);
digitalWrite(beep,LOW);
analogWrite(enablePin, 0);
}
else
{
Serial.print("OK!");
digitalWrite(beep,LOW);
delay(500);
analogWrite(enablePin, 191);
}
Serial.print("distance = ");
Serial.print(distance);
Serial.println("cm");
delay(500);
}
int sendData = (int) (distance * 100); //times 100 and convert disance to integer
byte packet[3];
packet[0] = 97;
packet[1] = sendData / 256; //divides sendData to two 1 byte packets
packet[2] = sendData % 256;
if ( BT.available()>0)
{
if (BT.read() == 97)
{
for(int i = 0; i < 3; i++)
BT.write(packet);
}
val = BT.read();
}
switch(x)
{
case 'F': // car forward
forward();
break;
case 'B': // car back
back();
break;
case 'S': // car stop
motorstop();
break;
case 'H': // speed high
motorhigh();
break;
case 'M': // speed mid
motormedian();
break;
case 'L': // speed low
motorlow();
break;
}
}