كيفية التحكم بمشغلك باستخدام مستشعر فوق صوتي

[code]
/* The purpose of this code it to be able to measure the distance of an object and position the stroke of a linear acuator accordingly.
 *  The required components are an Arduion Uno, a PobotPower MegaMoto Driver, and an Ultra sonic sensor.
 *  Written by Progressive Automations 2/02/21
 */

#define PWMA0 6
#define PWMB0 5
#define enable0 13   //pins for MegaMoto

#define hall0 2 //interrupt pins for hall effect sensors

#define echoPin 7 //echo pin on ultra sonic sensor
#define trigPin 8 //output on ultra sonic sensor

float duration, distance; 

int enable = 0; //enable pin for megaMoto

int count[] = {0};
int currentPos = 0;//current position
int threshold = 100;//position tolerance
int destination = 0;

bool forwards = false;
bool backwards = false;// motor states

void setup() {
  pinMode(PWMA0, OUTPUT);
  pinMode(PWMB0, OUTPUT);//set PWM outputs

  pinMode(enable0, OUTPUT);
  digitalWrite(enable0, LOW);//set enable and turn board OFF

  pinMode(hall0, INPUT);
  digitalWrite(hall0, LOW);//set hall, set low to start for rising edge

  attachInterrupt(0, speed0, RISING); //enable the hall effect interupts

  pinMode(trigPin,OUTPUT);
  pinMode(echoPin, INPUT);
  
  Serial.begin(9600);
  //homeActuator();//fully retracts actuator
  Serial.println("READY"); 
}//end setup

void loop() {
getDistance();//measure distance of object from ultra sonic sensor
currentPos = count[0]; 
if(distance < 13) //ignore value if greater than stroke length
{
destination = distance * 275; //translate measured distance (in inches) to desired stroke position (in pulses)
}
  if ((destination >= (currentPos - threshold)) && (destination <= (currentPos + threshold))) stopMoving();//stop acuator if it is in the desired position
  else if (destination > currentPos) goForwards();
  else if (destination < currentPos) goBackwards();

  Serial.print("Counts:      "); Serial.println(count[0]);
  Serial.print("currentPos:  "); Serial.println(currentPos);
  Serial.print("Destination: "); Serial.println(destination);

}//end loop

void speed0() {
  //Serial.println("Update 1");
  if (forwards == true) count[0]++; //if moving forwards, add counts
  else if (backwards == true) count[0]--; //if moving back, subtract counts
}//end speed0

/*void ReadInputs() {

  sw[0] = digitalRead(switch0), sw[1] = digitalRead(switch1);//check switches
  currentPos = count[0];
}//end read inputs
*/
void goForwards()
{
  forwards = true;
  backwards = false;
  //Serial.println("Moving forwards");
  digitalWrite(enable0, HIGH);//enable board
  //Serial.print(" Speeds "), Serial.print(spd[0]), Serial.print(", "), Serial.print(spd[1]);
  //Serial.print(" Counts "), Serial.println(count[0]);
  analogWrite(PWMA0, 255);
  analogWrite(PWMB0, 0);//apply speeds
}//end goForwards

void goBackwards()
{
  forwards = false;
  backwards = true;
  //Serial.println("Moving backwards");
  digitalWrite(enable0, HIGH);//enable board
  //Serial.print(" Speeds "), Serial.print(spd[0]), Serial.print(", "), Serial.print(spd[1]);
  //Serial.print(" Counts "), Serial.println(count[0]);
  analogWrite(PWMA0, 0);
  analogWrite(PWMB0, 255);//apply speeds
}//end goBackwards

void stopMoving()
{
  forwards = false;
  backwards = false;
  Serial.println("Stopped");
  analogWrite(PWMA0, 0);
  analogWrite(PWMB0, 0);//set speeds to 0
  delay(10);
  

  digitalWrite(enable0, LOW);//disable board
}//end stopMoving

void getDistance()
{
digitalWrite(trigPin, LOW); 
delayMicroseconds(10); 
digitalWrite(trigPin, HIGH);
delayMicroseconds(10); 
digitalWrite(trigPin, LOW);
 
duration = pulseIn(echoPin, HIGH);

distance = duration/58.2/2.5;
Serial.print("Distance:"); Serial.println(distance);
}

void homeActuator() //fully retract actuator and set count to 0
{
  goBackwards();
  delay(25000);//change this value to the amount of time it takes for the actuator to fully retract
  count[0] = {0};
}
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