Data Sheet

12/30/2015 4WDMobilePlatformSKU:ROB0022RobotWiki
https://www.dfrobot.com/wiki/index.php?title=4WD_Mobile_Platform_SKU:ROB0022 22/24
intURTRIG=10;//PWMtriggerpin
uint8_tEnPwmCmd[4]={0x44,0x02,0xbb,0x01};//distancemeasurecommand

voidsetup(){//Serialinitialization
myservo.attach(9);
Serial.begin(9600);//Setsthebaudrateto9600
SensorSetup();
}

voidloop(){
if(measureDistance.check()==1){
actualDistance=MeasureDistance();
//Serial.println(actualDistance);
//delay(100);
}

if(sweepServo.check()==1){
servoSweep();
}

if(actualDistance<=30){
myservo.write(90);
if(pos>=90){
//carBack(100,100);
////Serial.println("carBack");
//delay(100);
carTurnRight(150,150);
//Serial.println("carTurnRight");
delay(100);
}else{
//carBack(100,100);
////Serial.println("carBack");
//delay(100);
carTurnLeft(150,150);
//Serial.println("carTurnLeft");
delay(100);
}
}else{
carAdvance(70,70);
//Serial.println("carAdvance");
delay(100);
}
//carBack(150,150);
}


voidSensorSetup(){
pinMode(URTRIG,OUTPUT);//AlowpullonpinCOMP/TRIG
digitalWrite(URTRIG,HIGH);//SettoHIGH
pinMode(URPWM,INPUT);//SendingEnablePWMmodecommand
for(inti=0;i<4;i++){
Serial.write(EnPwmCmd[i]);
}
}

intMeasureDistance(){//alowpullonpinCOMP/TRIGtriggeringasensorreading
digitalWrite(URTRIG,LOW);
digitalWrite(URTRIG,HIGH);//readingPinPWMwilloutputpulses
unsignedlongdistance=pulseIn(URPWM,LOW);