Hi, I´m trying to activate a continuous servo with a HC SR04 ultrasonic sensor using arduino UNO, I did this before but with a regular 180º servo using a code that worked perfectly, I would like to know what are the changes that i have to do in order to activate the sevo and make it turns at a slow speed and then when there is no signal from the sensor it should stop.
for the regular 180º servo i used a code from
What changes i should do to make it work with continuous rotation servo Thanks
// Turning NeoPixels on and off using a HC-SRO4 Ping Sensor
/*
This sketch reads a HC-SR04 ultrasonic rangefinder and returns the
distance to the closest object in range. To do this, it sends a pulse
to the sensor to initiate a reading, then listens for a pulse
to return. The length of the returning pulse is proportional to
the distance of the object from the sensor.
The Arduino then takes this information and initiates a series of
sweeps. A sweep is defined as the servo moving its horn from the
0 position to 180 and back to 0 then to -180 and back to 0.
This code was developed partially from Ping))) code found in the public domain
written by David A. Mellis, and adapted to the HC-SRO4 by Tautvidas Sipavicius,
while other portions were written by Charles Gantt and Curtis Gauger from
http://www.themakersworkbench.com.
This code was written for a tutorial on http://www.themakersworkbench.com,
and was designed for use in a project built by The Young Makers of Greater Augusta.
*/
//Tell the Arduino Ide to include the Servo.h library.
#include <Servo.h>
//Setup the variables for the HC-SR04
const int trigPin = 6;
const int echoPin = 7;
// create servo object to control a servo
// a maximum of eight servo objects can be created
Servo myservo;
// variable to store the servo position
int pos = 0;
void setup() {
// initialize serial communication:
Serial.begin(9600);
// attaches the servo on pin 9 to the servo object
myservo.attach(9);
}
void loop()
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;
// The sensor is triggered by a HIGH pulse of 10 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(trigPin, OUTPUT);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Read the signal from the sensor: a HIGH pulse whose
// duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);
// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
//Tell the Arduino to print the measurement in the serial console
Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print("cm");
Serial.println();
// This if-else statement tells the Arduino at what distance
// it should trigger the servo, what the servo should do,
// and what it should do if the distance is too far away.
if (inches <= 24) {sweep(3);
}
else if (inches >= 24) {myservo.write(pos);
}
// Tell the Arduino to wait 0.10 seconds before pinging the
// Ultrasonic Sensor again.
delay(100);
}
// Converts the microseconds reading to Inches
long microsecondsToInches(long microseconds)
{
// According to Parallax's datasheet for the PING))), there are
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
// second). This gives the distance travelled by the ping, outbound
// and return, so we divide by 2 to get the distance of the obstacle.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
return microseconds / 74 / 2;
}
//Converts the Microseconds Reading to Centimeters
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
}
//This sub-routein is what dictates the movement of the servo
void sweep(int NUM_OF_CYCLES)
{
// Tells the Arduino to start this loop at 0 and incriment it by 1
// each time the loop completes. This is how the Arduino knows to
// stop the loop when a specific number of the Sweep routein has been ran.
for (int j=0; j<NUM_OF_CYCLES; j++)
for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(10); // waits 15ms for the servo to reach the position
}
for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees
{
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(10); // waits 15ms for the servo to reach the position
}
}