Act-30 Rover.

#include <LiquidCrystal.h>

#include <Servo.h>

double Distancia;

LiquidCrystal lcd(12,11,7,6,5,4);

Servo servo_13;

double fnc_ultrasonic_distance(int _t, int _e){

unsigned long dur=0;

digitalWrite(_t, LOW);

delayMicroseconds(5);

digitalWrite(_t, HIGH);

delayMicroseconds(10);

digitalWrite(_t, LOW);

dur = pulseIn(_e, HIGH, 18000);

if(dur==0)return 999.0;

return (dur/57);

}

void fnc_dynamic_digitalWrite(int _pin, int _e){

pinMode(_pin,OUTPUT);

digitalWrite(_pin,_e);

}

void setup()

{

lcd.begin(16, 2);

pinMode(9, OUTPUT);

pinMode(8, INPUT);

servo_13.attach(13);

Distancia = 0;

}

void loop()

{

Distancia = fnc_ultrasonic_distance(9,8);

lcd.setCursor(0, 0);

lcd.print(String("Dist:"));

lcd.setCursor(8, 0);

lcd.print(Distancia);

lcd.setCursor(0, 1);

lcd.print(String("Sentido:"));

if ((Distancia <= 20)) {

lcd.setCursor(10, 1);

lcd.print(String("Atras"));

fnc_dynamic_digitalWrite(0, LOW);

fnc_dynamic_digitalWrite(1, HIGH);

fnc_dynamic_digitalWrite(2, HIGH);

fnc_dynamic_digitalWrite(3, LOW);

delay(1000);

} else {

lcd.setCursor(10, 1);

lcd.print(String("Adelante"));

fnc_dynamic_digitalWrite(0, HIGH);

fnc_dynamic_digitalWrite(1, HIGH);

fnc_dynamic_digitalWrite(2, HIGH);

fnc_dynamic_digitalWrite(3, HIGH);

}

while ((Distancia >= 20)) {

servo_13.write(0);

delay(100);

delay(1000);

servo_13.write(180);

delay(100);

delay(1000);

}

}