November 27 - Second Attempt

First code failed. The ping sensor did not picked up any obstacles, in fact the ping sensor did not turn on. We tried different things to make this code to work. We changed the language to make it our own but the ping sensor did not turn on. We then went back to the website we got the code from and later we found out the creators of this code were using a different sensor similar to ours. We then came across this:

	const int numOfReadings = 10; // number of readings to take/ items in the array
	int readings[numOfReadings]; // stores the distance readings in an array
	int arrayIndex = 0; // arrayIndex of the current item in the array
	int total = 0; // stores the cumlative total
	int averageDistance = 0; // stores the average value
	// setup pins and variables for SRF05 sonar device
	int echoPin = 7; // SRF05 echo pin (digital 2)
	//int initPin = 13; // SRF05 trigger pin (digital 3)
	unsigned long pulseTime = 0; // stores the pulse in Micro Seconds
	unsigned long distance = 0; // variable for storing the distance (cm)
	int motor1Pin1 = 3; // forward
	int motor1Pin2 = 4; // reverse
	//int enable1Pin = 9; //
	int motor2Pin1 = 5; // Steer right
	int motor2Pin2 = 6; // Steer left
	//int enable2Pin = 10; //
	void setup() {
	// set the motor pins as outputs:
	pinMode(motor1Pin1, OUTPUT);
	pinMode(motor1Pin2, OUTPUT);
	//pinMode(enable1Pin, OUTPUT);
	pinMode(motor2Pin1, OUTPUT);
	pinMode(motor2Pin2, OUTPUT);
	//pinMode(enable2Pin, OUTPUT);
	// set enablePins high so that motor can turn on:
	//digitalWrite(enable1Pin, HIGH);
	//digitalWrite(enable2Pin, HIGH);
	pinMode(echoPin, OUTPUT); // set init pin 3 as output
	pinMode(echoPin, INPUT); // set echo pin 2 as input
	// create array loop to iterate over every item in the array
	for (int thisReading = 0; thisReading < numOfReadings; thisReading++) {
	readings[thisReading] = 0;
	}
	}
	void loop() {
	digitalWrite(echoPin, HIGH); // send 10 microsecond pulse
	delayMicroseconds(10); // wait 10 microseconds before turning off
	digitalWrite(echoPin, LOW); // stop sending the pulse
	pulseTime = pulseIn(echoPin, HIGH); // Look for a return pulse, it should be high as the pulse goes low-high-low
	distance = pulseTime/58; // Distance = pulse time / 58 to convert to cm.
	total= total - readings[arrayIndex]; // subtract the last distance
	readings[arrayIndex] = distance; // add distance reading to array
	total= total + readings[arrayIndex]; // add the reading to the total
	arrayIndex = arrayIndex + 1; // go to the next item in the array
	// At the end of the array (10 items) then start again
	if (arrayIndex >= numOfReadings) {
	arrayIndex = 0;
	}
	averageDistance = total / numOfReadings; // calculate the average distance
	delay(10);
	// check the average distance and move accordingly
	if (averageDistance <= 10){
	// go backwards
	digitalWrite(motor1Pin1, LOW);
	digitalWrite(motor1Pin2, HIGH);
	digitalWrite(motor2Pin1, HIGH);
	digitalWrite(motor2Pin2, LOW);
	}
	if (averageDistance <= 25 && averageDistance > 10) {
	// turn right
	digitalWrite(motor1Pin1, HIGH);
	digitalWrite(motor1Pin2, LOW);
	digitalWrite(motor2Pin1, HIGH);
	digitalWrite(motor2Pin2, LOW);
	}
	if (averageDistance > 25) {
	// go forward
	digitalWrite(motor1Pin1, HIGH);
	digitalWrite(motor1Pin2, LOW);
	digitalWrite(motor2Pin1, LOW);
	digitalWrite(motor2Pin2, LOW);
	}
	}

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