Keyestudio 4WD Bluetooth Multi-functional Car - Page 90

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if (Lspeedd < 15 && Rspeedd < 15) //assuming both left distance and right distance less than 10cm
{
directionn = Bgo; //going backward
}
}
else //assuming the front distance more than 25 cm
{
directionn = Fgo; //going forward
}
}
void ask_pin_F() // measuring the front distance
{
myservo.write(90);
digitalWrite(outputPin, LOW); // ultrasonic launching low voltage at 2μs
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // ultrasonic launching high voltage at 10μs，at least at10μs
delayMicroseconds(10);
digitalWrite(outputPin, LOW); // keeping ultrasonic launching low voltage
float Fdistance = pulseIn(inputPin, HIGH); // time of error reading
Fdistance= Fdistance/5.8/10; // converting time into distance（unit：cm）
Fspeedd = Fdistance; // reading-in Fspeedd(fore speed) with distance
}
void ask_pin_L() // measuring left distance
{
myservo.write(5);