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Kod: Markera allt

#include <NewPing.h>
#include <LiquidCrystal.h>
LiquidCrystal LCD(8, 9, 4, 5, 6, 7);


#define step_pin 3    // Define pin 3 as the steps pin
#define dir_pin 2    // Define pin 2 as the direction pin
#define MS1 A1     // Define pin 5 as "MS1"
#define MS2 A2      // Define pin 4 as "MS2"
#define btnRIGHT  0
#define btnUP     1
#define btnDOWN   2
#define btnLEFT   3
#define btnSELECT 4
#define btnNONE   5
#define trigPin 11
#define echoPin 12




int button;
int direction;    // Variable to determine the sense of the motor
int steps = 500;      // Number of steps that you want to execute (for full steps, 200 = 1 turn)

void setup() {
  
   LCD.begin(16,2); //Starta Lcd Med 16 columner och 2 Rader
  LCD.setCursor(0,0);  //Sätt Rad Uppe Till Vänster, column 0, Rad 0
  LCD.print("    Pall 120");  //Skriv På Första Raden
   
   pinMode(trigPin, OUTPUT);
   pinMode(echoPin, INPUT);
   
   pinMode(MS1, OUTPUT);     // Configures "MS1" as output
   pinMode(MS2, OUTPUT);     // Configures "MS2" as output
   pinMode(dir_pin, OUTPUT);    // Configures "dir_pin" as output
   pinMode(step_pin, OUTPUT);    // Configures "step_pin" as output
   
  
  
   digitalWrite(MS1, LOW);      // Configures the steps division (see above)
   digitalWrite(MS2, LOW);    // Configures the steps division (see above)
   
  
}

void loop() { 
  
  
  long duration, distance;
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance =(((duration/2)/29.4)*2) ;
  
  LCD.setCursor(0,1);  //Sätt Till Andra Raden
  LCD.print("                "); //Skriv Inget För Att Rensa Raden
  LCD.setCursor(0,1);   //Sätt Till Andra Raden
  LCD.print(distance); //Skriv Kod Från Sensor
  LCD.print(" cm");  //Skriv Enhet
  delay(250); //Pausa För Att Ordna Siffror
 
 
  int buttonVal = read_buttons();
  if(buttonVal == btnLEFT)
{
    digitalWrite(dir_pin, HIGH);
    digitalWrite(step_pin, HIGH);
    delay(1);
    digitalWrite(step_pin, LOW);
    delay(2);
    steps--;
}

if(buttonVal == btnRIGHT)
{
    digitalWrite(dir_pin, LOW);
    digitalWrite(step_pin, LOW);
    delay(3);
    digitalWrite(step_pin, HIGH);
    steps--;
}  
  
  
}  
int read_buttons() {
  
 int adc_key_in = analogRead(0);
 
 if (adc_key_in > 1000) return btnNONE;
 if (adc_key_in < 50)   return btnRIGHT;  
 if (adc_key_in < 195)  return btnUP; 
 if (adc_key_in < 380)  return btnDOWN; 
 if (adc_key_in < 555)  return btnLEFT; 
 if (adc_key_in < 790)  return btnSELECT;   
}

Kod: Markera allt

duration = pulseIn(echoPin, HIGH);