Arduino Code.txt

#include <SoftwareSerial.h>
SoftwareSerial bluetooth(A0, A1); // RX, TX
int gelenveri = 0;
int gidenveri = 0;
int yenigelenveri = 0;

int LeftMotorForward = 11; // Sol motor 1.
int LeftMotorReverse = 9; // Sol motor 2.

int RightMotorForward = 12; // Sað motor 1.
int RightMotorReverse = 13; // Sað motor 2.

const int trig_on=10;
const int echo_on=8;

const int trig_sag=A4;
const int echo_sag=A5;

const int trig_sol=A2;
const int echo_sol=A3;

int sure_on=0;
int sure_sag=0;
int sure_sol=0;

int mesafe_on=0;
int mesafe_sag=0;
int mesafe_sol=0;


void setup() {
pinMode(trig_sag, OUTPUT);
pinMode(trig_sol, OUTPUT); 
pinMode(trig_on, OUTPUT);
  
pinMode(LeftMotorForward, OUTPUT);  // ilgili pin çýkýþ olarak ayarlandý
pinMode(RightMotorForward, OUTPUT);  // ilgili pin çýkýþ olarak ayarlandý.
pinMode(LeftMotorReverse, OUTPUT);  // ilgili pin çýkýþ olarak ayarlandý.
pinMode(RightMotorReverse, OUTPUT);  // ilgili pin çýkýþ olarak ayarlandý.
Serial.begin(9600);
bluetooth.begin(9600);
}


void loop() {
  if (bluetooth.available()) {
   yenigelenveri = 0;
    digitalWrite(trig_on,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_on,LOW);
    sure_on=pulseIn(echo_on,HIGH);
    mesafe_on=(sure_on/2)/28.5;
    
    digitalWrite(trig_sag,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_sag,LOW);
    sure_sag=pulseIn(echo_sag,HIGH);
    mesafe_sag=(sure_sag/2)/28.5;

    digitalWrite(trig_sol,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_sol,LOW);
    sure_sol=pulseIn(echo_sol,HIGH);
    mesafe_sol=(sure_sol/2)/28.5;

    Serial.println(mesafe_on);//kontrol etmek için
    Serial.println(mesafe_sag);//kontrol etmek için
    Serial.println(mesafe_sol);//kontrol etmek için
    
    gelenveri = bluetooth.read();
    //geri
     if(gelenveri == 83 || yenigelenveri ==83 ){
      Serial.println("DURDU!"); 
   digitalWrite(RightMotorForward,LOW);   // Sað motor kapalý
   digitalWrite(LeftMotorForward, LOW);   // Sol motor kapalý
   digitalWrite(RightMotorReverse,LOW); 
   digitalWrite(LeftMotorReverse,LOW);
   
  }
  while(gelenveri == 90 && yenigelenveri !=83 ){
    if(gelenveri == 90 &&  yenigelenveri !=83 ){
      Serial.println( "Geri");
   digitalWrite(RightMotorReverse,HIGH);   // Sað motor kapalý
   digitalWrite(LeftMotorReverse, HIGH);   // Sol motor kapalý
   digitalWrite(RightMotorForward,LOW); 
    digitalWrite(LeftMotorForward,LOW);
   delay(100);  
    yenigelenveri = bluetooth.read();
  }
  }
  /*  
 // saða dönme
  while(gelenveri == 82 && yenigelenveri !=83 ){
    if(gelenveri == 82 && yenigelenveri !=83 && mesafe_sag > 10){
      Serial.println( "Sag");
   digitalWrite(RightMotorForward, LOW);   // Sað motor kapalý
   digitalWrite(LeftMotorForward, HIGH);   // Sol motor açýk
   delay(100);               // 3 saniye bekle
   digitalWrite(trig_sag,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_sag,LOW);
    sure_sag=pulseIn(echo_sag,HIGH);
    mesafe_sag=(sure_sag/2)/28.5;
    yenigelenveri = bluetooth.read();}
    
    else if(mesafe_sag<10)//saðda engel varsa
    {bluetooth.write("b");
    digitalWrite(RightMotorForward,LOW);   // Sað motor kapalý
   digitalWrite(LeftMotorForward, LOW);   // Sol motor kapalý
  }     
  }

 //sola dönme
 while(gelenveri == 76 && yenigelenveri !=83 ){
 if(gelenveri == 76 && yenigelenveri !=83 && mesafe_sol > 10 ){
   Serial.println( "Sol");
   digitalWrite(RightMotorForward, HIGH);   // Sað motor açýk
   digitalWrite(LeftMotorForward, LOW);   // Sol motor kapaý
   delay(100); 
     digitalWrite(trig_sol,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_sol,LOW);
    sure_sol=pulseIn(echo_sol,HIGH);
    mesafe_sol=(sure_sol/2)/28.5;
    yenigelenveri = bluetooth.read();}
    else if(mesafe_sol<10)//saðda engel varsa
    {bluetooth.write("b");
    digitalWrite(RightMotorForward,LOW);   // Sað motor kapalý
   digitalWrite(LeftMotorForward, LOW);   // Sol motor kapalý
   digitalWrite(RightMotorReverse,LOW); 
   digitalWrite(LeftMotorReverse,LOW);}
    
 }             
*/
  //ileri yön  
  while(gelenveri == 70 && yenigelenveri !=83 ){
    
   if(mesafe_on > 10 && mesafe_sag >10 && mesafe_sol > 10){   
    Serial.println("ileri");
    digitalWrite(RightMotorForward,HIGH);   // Sað motor kapalý
    digitalWrite(LeftMotorForward,HIGH);   // Sol motor kapalý
    delay(100);  
    digitalWrite(trig_on,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_on,LOW);
    sure_on=pulseIn(echo_on,HIGH);
    mesafe_on=(sure_on/2)/28.5;
    
    digitalWrite(trig_sag,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_sag,LOW);
    sure_sag=pulseIn(echo_sag,HIGH);
    mesafe_sag=(sure_sag/2)/28.5;

    digitalWrite(trig_sol,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_sol,LOW);
    sure_sol=pulseIn(echo_sol,HIGH);
    mesafe_sol=(sure_sol/2)/28.5;
    yenigelenveri = bluetooth.read();
    Serial.println(yenigelenveri);
    Serial.println(gelenveri);
    if(yenigelenveri==83)
    {
      Serial.println("DURDU!"); 
   digitalWrite(RightMotorForward,LOW);   // Sað motor kapalý
   digitalWrite(LeftMotorForward, LOW);   // Sol motor kapalý
   digitalWrite(RightMotorReverse,LOW); 
   digitalWrite(LeftMotorReverse,LOW);
   
    }    
    }
  else if((mesafe_on < 10 || mesafe_sag <10 || mesafe_sol < 10))
  {
    Serial.println("dur");
    digitalWrite(RightMotorForward,LOW); 
    digitalWrite(LeftMotorForward,LOW);
    delay(100);
    if(mesafe_on<10 && mesafe_sag>10 && mesafe_sol>10)//önde engel varsa
    {bluetooth.write("a");}
    else if(mesafe_on>10 && mesafe_sag<10 && mesafe_sol>10)//saðda engel varsa
    {bluetooth.write("b");}
    else if(mesafe_on>10 && mesafe_sag>10 && mesafe_sol<10)//solda engel varsa
    {bluetooth.write("c");}
    else if(mesafe_on<10 && mesafe_sag<10 && mesafe_sol>10)//önde ve saðda engel varsa
    {bluetooth.write("d");}
    else if(mesafe_on<10 && mesafe_sag>10 && mesafe_sol<10)//önde ve solda engel varsa
    {bluetooth.write("e");}
    else if(mesafe_on>10 && mesafe_sag<10 && mesafe_sol<10)//saðda ve solda engel varsa
    {bluetooth.write("f");}
    else if(mesafe_on<10&& mesafe_sag<10 && mesafe_sol<10)//önde,saðda ve solda engel varsa
    {bluetooth.write("g");}  
    digitalWrite(trig_on,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_on,LOW);
    sure_on=pulseIn(echo_on,HIGH);
    mesafe_on=(sure_on/2)/28.5;
    
    digitalWrite(trig_sag,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_sag,LOW);
    sure_sag=pulseIn(echo_sag,HIGH);
    mesafe_sag=(sure_sag/2)/28.5;

    digitalWrite(trig_sol,HIGH);
    delayMicroseconds(1000);
    digitalWrite(trig_sol,LOW);
    sure_sol=pulseIn(echo_sol,HIGH);
    mesafe_sol=(sure_sol/2)/28.5;
    yenigelenveri = bluetooth.read();
    Serial.println(yenigelenveri);
  }
  }
 }
}