Gruppe Tobias Eric Yannick Bendikt

Auto:

#include
#include

LiquidCrystal_I2C lcd(0x27, 16, 2);


short motorL_1 = 5; //Motor L vorwärts     A1_A
short motorL_2 = 6; //Motor L rückwärts    A1_B
short motorR_1 = 10; //Motor R vorwärts    B1_A
short motorR_2 = 11; //Motor R rückwärts   B1_B
short v = 245;
short v2 = 183;
int t = 1700;
const int TrigPin = 2;
 const int EchoPin = 3;
 float cm;
 float cmmin =15;
 int led_max = 13;
 int led_min = 12;
 int milistart;
 int milis;
 int milis2 = 0;
 int Phase;
 int drehen=1000;
 int fahren;
 


void setup()
{
Serial.begin(9600);
  pinMode(motorL_1, OUTPUT);
  pinMode(motorL_2, OUTPUT);
  pinMode(motorR_1, OUTPUT);
  pinMode(motorR_2, OUTPUT);
    pinMode(led_max , OUTPUT);
     pinMode(led_min , OUTPUT);
     pinMode(TrigPin, OUTPUT);
     pinMode(EchoPin, INPUT);
     Phase=1;
 
//  fahren( 0, 0 );

  lcd.begin();
 
}


void loop()
{

    lcd.setCursor(0,0);

lcd.print(" Die Entfernung:");

lcd.setCursor(0,1);

lcd.print(cm);

    if (Phase==1){
      /*Anfang Abstandsmessung */
      milistart = millis();
      digitalWrite(TrigPin, LOW);
      delayMicroseconds(2);
      digitalWrite(TrigPin, HIGH);
      delayMicroseconds(10);
      digitalWrite(TrigPin, LOW);
      cm = pulseIn(EchoPin, HIGH) / 58.0;
      cm = (int(cm * 100.0)) / 100.0;
      Serial.print(cm);
    Serial.print("cm");
      Serial.println();
     /*Ende Abstandsmessung*/

     /*Anfang Auto  
        Phase1( v, v2 );
        Phase2( -v, -v2 );
        Phase3( v, -v2 ); */
 
     if (cm < cmmin){
       Phase=2;
     }
     if (Phase==2){
       milis2=milis;
       if (milis>500){
         Phase=3;
       }
     }
     if (Phase==3){
       milis2=milis;
       if (milis>drehen){
        Phase=1;
        
       }
     }
     }
     
   }  

   if ( Phase==1){
     fahren (v,v2);
   }
 
   if ( Phase==2){
     fahren (-v,-v2);
   }
   
   if ( Phase==3){
     fahren (v,-v2);
   }
 

}


void fahren(int links, int rechts) {
  if(links != 0 || rechts != 0){
 
    Serial.print("Links: ");
    Serial.print(links);
    Serial.print("   Rechts: ");
    Serial.println(rechts);
    
  }
    
  if(links < 0){
    links = -links;
    analogWrite(motorL_1, 0);
    analogWrite(motorL_2, links);
  }else{
    analogWrite(motorL_1, links);
    analogWrite(motorL_2, 0);    
  }
 
  if(rechts < 0){
    rechts = -rechts;
    analogWrite(motorR_1, 0);
    analogWrite(motorR_2, rechts);
  }else{
    analogWrite(motorR_1, rechts);
    analogWrite(motorR_2, 0);    
  }
  /*Ende Auto*/
}

 

HUMBA!!!

#include

#include

LiquidCrystal_I2C lcd(0x27, 16, 2);

 

void setup()  

{

lcd.begin();

}

void loop()

 {
lcd.clear();
lcd.setCursor(0,0);
lcd.print("Gib mir ein:");
delay(3000);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("H");
delay(2000);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("U");
delay(2000);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("M");
delay(2000);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("B");
delay(2000);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("A");
delay(2000);lcd.clear();
lcd.setCursor(0,0);
lcd.print("AUSRUFEZEICHEN");
delay(4000);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("UND WIR SINGEN");
delay(4000);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("HUMBA!!!");
delay(500);
lcd.clear();
lcd.setCursor(0,0);
delay(500);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("HUMBA!!!");
delay(500);
lcd.clear();
lcd.setCursor(0,0);
delay(500);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("HUMBA!!!");
delay(500);
}

 

Unsere Ziele für heute:

-> beide Programme mit einander verknüpfen

ZIEL:

#include

#include

LiquidCrystal_I2C lcd(0x27, 16, 2);

int trigger=7;
int echo=6;
long dauer=0;
long entfernung=0;



void setup()

{
Serial.begin (9600);
pinMode(trigger, OUTPUT);
pinMode(echo, INPUT);
lcd.begin();
}


void loop()
{

digitalWrite(trigger, LOW);

delay(5);

digitalWrite(trigger, HIGH);

delay(10);

digitalWrite(trigger, LOW);

dauer = pulseIn(echo, HIGH);

entfernung = (dauer/2) / 29.1;

if (entfernung >= 500 || entfernung <= 0)

{

Serial.println("Kein Messwert");

}

else

{

Serial.print(entfernung);

Serial.println(" cm");

}

delay(500);
lcd.clear();<<
lcd.setCursor(0,0);
lcd.print("Messung: ");
lcd.print(entfernung);

}