Car.ino

char t;
int trigger = 3;      // trig pin of HC-SR04
int ech = 5;     // Echo pin of HC-SR04
int duration,distance;
int time;
void setup() {
pinMode(13,OUTPUT);   //left motors forward
pinMode(12,OUTPUT);   //left motors reverse
pinMode(11,OUTPUT);   //right motors forward
pinMode(10,OUTPUT);   //right motors reverse 
pinMode(9,OUTPUT);   //Led
pinMode(trigger, OUTPUT);         // set trig pin as output
pinMode(ech, INPUT);          //set echo pin as input to capture reflected waves
Serial.begin(9600);
 
}
 
void loop() {
if(Serial.available()){
  t = Serial.read();
  Serial.println(t);
  }
 digitalWrite(trigger,LOW);
 delayMicroseconds(2);
 digitalWrite(trigger,HIGH);
 delayMicroseconds(10);
 digitalWrite(trigger,LOW);
 delayMicroseconds(2);
 time=pulseIn(ech,HIGH);
 distance=time*340/20000;
Serial.println("Distance = ");
Serial.println(distance);
if(distance>20){
  digitalWrite(13,LOW);
  digitalWrite(12,LOW);
  digitalWrite(11,LOW);
  digitalWrite(10,LOW);
 delay(1000);
  digitalWrite(12,HIGH);
  digitalWrite(10,HIGH);
 delay(1200);
 digitalWrite(13,LOW);
  digitalWrite(12,LOW);
  digitalWrite(11,LOW);
  digitalWrite(10,LOW);
}   
 
 if(t == 'F'){            //move forward(all motors rotate in forward direction)
  digitalWrite(13,HIGH);
  digitalWrite(11,HIGH);
}
 
else if(t == 'B'){      //move reverse (all motors rotate in reverse direction)
  digitalWrite(12,HIGH);
  digitalWrite(10,HIGH);
}
 
else if(t == 'L'){      //turn right (left side motors rotate in forward direction, right side motors doesn't rotate)
  digitalWrite(11,HIGH);
}
 
else if(t == 'R'){      //turn left (right side motors rotate in forward direction, left side motors doesn't rotate)
  digitalWrite(13,HIGH);
}

else if(t == 'W'){    //turn led on or off)
  digitalWrite(9,HIGH);
}
else if(t == 'w'){
  digitalWrite(9,LOW);
}
 
else if(t == 'S'){      //STOP (all motors stop)
  digitalWrite(13,LOW);
  digitalWrite(12,LOW);
  digitalWrite(11,LOW);
  digitalWrite(10,LOW);
}
//delay(100);
}