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Update README.md #2

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186 changes: 185 additions & 1 deletion README.md
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Original file line number Diff line number Diff line change
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# Stair-Climbing-Mechanism
int trig1 = 2;
int trig2 = 3;
int trig3 = 4;
int echo1 = 5;
int echo2 = 6;
int echo3 = 7;
int direcF1 = 30;
int direcF2 = 31;
int speedF1 = 8;
int speedF2 = 9;
int direcR1 = 32;
int direcR2 = 33;
int speedR1 = 10;
int speedR2 = 11;
int direcU1 = 34;
int direcU2 = 35;
int speedU1 = 12;
int speedU2 = 13;
long dur1;
long dur2;
long dur3;
int dist1;
int dist2;
int dist3;
void setup()
{
pinMode(trig1, OUTPUT);
pinMode(trig2, OUTPUT);
pinMode(trig3, OUTPUT);
pinMode(echo1, INPUT);
pinMode(echo2, INPUT);
pinMode(echo3, INPUT);
pinMode(direcF1, OUTPUT);
pinMode(direcF2, OUTPUT);
pinMode(direcR1, OUTPUT);
pinMode(direcR2, OUTPUT);
pinMode(direcU1, OUTPUT);
pinMode(direcU2, OUTPUT);
pinMode(speedF1, OUTPUT);
pinMode(speedF2, OUTPUT);
pinMode(speedR1, OUTPUT);
pinMode(speedR2, OUTPUT);
pinMode(speedU1, OUTPUT);
pinMode(speedU2, OUTPUT);
}
void loop()
{
digitalWrite(trig1, LOW);
digitalWrite(trig2, LOW);
digitalWrite(trig3, LOW);
digitalWrite(direcF1, LOW);
digitalWrite(direcF2, LOW);
digitalWrite(direcR1, LOW);
digitalWrite(direcR2, LOW);
digitalWrite(direcU1, LOW);
digitalWrite(direcU2, LOW);
digitalWrite(speedF1, LOW);
digitalWrite(speedF2, LOW);
digitalWrite(speedR1, LOW);
digitalWrite(speedR2, LOW);
digitalWrite(speedU1, LOW);
digitalWrite(speedU2, LOW);
delay(30);
digitalWrite(trig1, HIGH);
digitalWrite(trig2, HIGH);
delay(10);
digitalWrite(trig1, LOW);
digitalWrite(trig2, LOW);
dur1 = pulseIn(echo1, HIGH);
dist1 = (dur1)*0.034 / 2;
dur2 = pulseIn(echo2, HIGH);
dist2 = (dur2)*0.034 / 2;
if ((dist1 >= 150) && (dist2 >= 150))
{
analogWrite(speedF1, 240);
analogWrite(speedF2, 240);
delay(1500);
}
else if ((dist1 >= 100) && (dist2 >= 100))
{
analogWrite(speedF1, 190);
analogWrite(speedF2, 190);
delay(500);
}
else if ((dist1 >= 35) && (dist2 >= 35))
{
analogWrite(speedF1, 100);
analogWrite(speedF2, 100);
delay(500);
}
else if ((8 < dist1 < 35) || (8 < dist2 < 35))
{
if (dist1 > dist2)
{
analogWrite(speedF1, 40);
delay(200);
analogWrite(speedF1, 0);
}
else
{
analogWrite(speedF2, 40);
delay(200);
analogWrite(speedF2, 0);
}
}
else if ((6 < dist1 <= 8) || (6 < dist2 <= 8))
{
analogWrite(speedR1, 40);
analogWrite(speedR2, 40);
delay(200);
analogWrite(speedR1, 0);
analogWrite(speedR2, 0);
}
else if ((dist1 <= 6) || (dist2 <= 6))
{
analogWrite(speedR1, 40);
analogWrite(speedR2, 40);
delay(150);
analogWrite(speedR1, 0);
analogWrite(speedR2, 0);
delay(500);
analogWrite(speedU1, 150);
delay(3500);
analogWrite(speedU1, 0);
delay(500);
find_dist:
digitalWrite(trig3, HIGH);
delay(10);
digitalWrite(trig3, LOW);
dur3 = pulseIn(echo3, HIGH);
dist3 = (dur3)*0.034 / 2;
if (dist3 > 15)
{
analogWrite(speedR1, 90);
analogWrite(speedR2, 90);
delay(200);
analogWrite(speedR1, 0);
analogWrite(speedR2, 0);
goto find_dist;
}
else if (10 < dist3 <= 15)
{
analogWrite(speedR1, 50);
analogWrite(speedR2, 50);
delay(200);
analogWrite(speedR1, 0);
analogWrite(speedR2, 0);
goto find_dist;
}
else if (6 < dist3 <= 10)
{
analogWrite(speedR1, 50);
analogWrite(speedR2, 50);
delay(200);
analogWrite(speedR1, 0);
analogWrite(speedR2, 0);
goto find_dist;
}
else
{
analogWrite(speedF1, 40);
analogWrite(speedF2, 40);
delay(200);
analogWrite(speedF1, 0);
analogWrite(speedF2, 0);
delay(500);
analogWrite(speedU2, 150);
delay(3500);
analogWrite(speedU2, 0);
delay(200);
analogWrite(speedF1, 40);
analogWrite(speedF2, 40);
delay(100);
analogWrite(speedF1, 0);
analogWrite(speedF2, 0);
digitalWrite(direcU1, HIGH);
digitalWrite(direcU2, HIGH);
analogWrite(speedU1, 150);
analogWrite(speedU2, 150);
delay(3500);
analogWrite(speedU1, 0);
analogWrite(speedU2, 0);
}
}
}