Çözüldü Arduino engel algılayan araba hk.

/* Engel Algılayan Robot*/
#include <Servo.h>
#include <NewPing.h>
*
#define LeftMotorForward 9
#define LeftMotorBackward 10
#define RightMotorForward 11
#define RightMotorBackward 12
#define USTrigger 6
#define USEcho 7
#define MaxDistance 100
#define LED 13
*
Servo servo;
NewPing sonar(USTrigger, USEcho, MaxDistance);
*
unsigned int duration;
unsigned int distance;
unsigned int FrontDistance;
unsigned int LeftDistance;
unsigned int RightDistance;
unsigned int Time;
*
**** setup()****************************************** 
{pinMode(LeftMotorForward, OUTPUT);
**pinMode(LeftMotorBackward, OUTPUT);
**pinMode(RightMotorForward, OUTPUT);
**pinMode(RightMotorBackward, OUTPUT);
**pinMode(LED, OUTPUT);
**servo.attach(4);*********************************** 
}
*
**** loop()***************************************** 
{
**delay(500);
**servo.write(90);************************************************ 
**scan();******************************************* 
**FrontDistance = distance;************************** 
**if(FrontDistance > 40 || FrontDistance == 0)******* 
**{
***moveForward();************************************ 
**} 
**else**********************************************
**{
****moveStop();************************************** 
****servo.write(167);******************************* 
****delay(500);************************************* 
****scan();**************************************** 
****LeftDistance = distance;************************ 
****servo.write(0);********************************* 
****delay(500);*********************************** 
****scan();****************************************** 
****RightDistance = distance;************************ 
****if(RightDistance < LeftDistance)***************** 
****{
*****moveLeft();************************************* 
*****delay(500);************************************* 
****}
****



 
else if(LeftDistance < RightDistance)*********** 
****{
*****moveRight();*********************************** 
*****delay(500);************************************ 
****}
****else*********************************************
****{
*****moveBackward();******************************** 
*****delay(200);************************************* 
*****moveRight();*********************************** 
*****delay(200);************************************* 
****}
**}
}
*
**** moveForward()*********************************** 
{
**digitalWrite(LeftMotorBackward, LOW);
**digitalWrite(LeftMotorForward, HIGH);
**digitalWrite(RightMotorBackward, LOW);
**digitalWrite(RightMotorForward, HIGH);
}
*
**** moveBackward()********************************* 
{
**digitalWrite(LeftMotorForward, LOW);
**digitalWrite(LeftMotorBackward, HIGH);
**digitalWrite(RightMotorForward, LOW);
**digitalWrite(RightMotorBackward, HIGH);
}
*
**** moveLeft()************************************* 
{
**digitalWrite(LeftMotorForward, LOW);
**digitalWrite(LeftMotorBackward, HIGH);
**digitalWrite(RightMotorBackward, LOW);
**digitalWrite(RightMotorForward, HIGH);
***
}
*
**** moveRight()*********************************** 
{
**digitalWrite(LeftMotorBackward, LOW);
**digitalWrite(LeftMotorForward, HIGH);
**digitalWrite(RightMotorForward, LOW);
**digitalWrite(RightMotorBackward, HIGH);
}
*
**** moveStop()************************************ 
{
**digitalWrite(LeftMotorBackward, LOW);
**digitalWrite(LeftMotorForward, LOW);
**digitalWrite(RightMotorForward, LOW);
**digitalWrite(RightMotorBackward, LOW);
}
**** scan()**************************************** 
{
**delay(50); 
**Time = sonar.ping(); 
**distance = Time / US_ROUNDTRIP_CM;
}