DIY-navigatiesysteem voor blinde mensen met behulp van de Arduino en Android smartphone (3 / 4 stap)

Stap 3: Software (Arduino code)

 #include <OneSheeld.h>#define inputPin 11 #define outputPin 10 #define inputPin2 13 #define outputPin2 12 #define my_constant 20unsigned int sensor_r_value; unsigned int sensor_l_value; unsigned int sensor_r_value_last; unsigned int sensor_l_value_last; int difference;void setup(){ pinMode(inputPin,INPUT); pinMode(outputPin,OUTPUT); pinMode(inputPin2,INPUT); pinMode(outputPin2,OUTPUT); OneSheeld.begin(); }void loop(){ read_sensors(); delay(1500); }int measure_r(){ digitalWrite(outputPin, LOW); // send low pulse for 2μs delayMicroseconds(2); digitalWrite(outputPin, HIGH); // send high pulse for 10μs delayMicroseconds(10); digitalWrite(outputPin, LOW); // back to low pulse int distance = pulseIn(inputPin, HIGH); // read echo value int distance1= distance/29/2; // in cm return distance1; }int measure_l(){ digitalWrite(outputPin2, LOW); // send low pulse for 2μs delayMicroseconds(2); digitalWrite(outputPin2, HIGH); // send high pulse for 10μs delayMicroseconds(10); digitalWrite(outputPin2, LOW); // back to low pulse int distance = pulseIn(inputPin2, HIGH); // read echo value int distance2= distance/29/2; // in cm return distance2; }int read_sensors(){ sensor_r_value=measure_r(); sensor_l_value=measure_l(); if((sensor_r_value<30)||(sensor_l_value<30)){ TextToSpeech.say("stop now and rotate"); } else{} if(((sensor_r_value>30)&&(sensor_l_value>30))&&((sensor_r_value_last<30)||(sensor_l_value_last<30))){ TextToSpeech.say("Go Forward");} sensor_r_value_last=sensor_r_value; sensor_l_value_last=sensor_l_value; }