Programming

For controlling the car and the sensor I use the software Arduino programming.

That's the code.

long distance;

int enA=10;//left motor speed

int in1=9;

int in2=8 ;

int in3=7;

int in4=6;

int enB=5;//right motor speed

void setup()

{

pinMode (13, OUTPUT) ;//trigger

pinMode (12, INPUT) ;//echo

pinMode(11,OUTPUT);//servo

pinMode(enA, OUTPUT);

pinMode (in1, OUTPUT) ;

pinMode (in2, OUTPUT) ;

pinMode (enB, OUTPUT);

pinMode (in3, OUTPUT);

pinMode (in4, OUTPUT) ;

Serial.begin(9600) ;//Sets the data rate in bits per second (baud) for serial

}

void loop()

{

Sonar () ;

//Serial.print (distance) ;

// Serial.printin("cm" ) ;

// delay (500) ;

if (distance < 20)

Backward();// keep social distance

{

digitalWrite(in3, LOW) ;

digitalWrite(in4, HIGH) ;

analogWrite(enB, 200);

digitalWrite(in1, LOW);

digitalWrite(in2, HIGH);

analogWrite(enA, 200);

}

}

void Forward()

{

digitalWrite(in3, LOW);

digitalWrite(in4, HIGH);

analogWrite(enB, 200);

digitalWrite(in1, LOW);

digitalWrite(in2, HIGH);

analogWrite(enA, 200);

delay (1000);

}

void Backward()

{

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

analogWrite(enB, 200) ;

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

analogWrite(enA, 200) ;

delay(1000);

}

void Sonar()

{

digitalWrite(13,LOW);//clear trig

delayMicroseconds(2);

digitalWrite(13,HIGH);//trig

delayMicroseconds(10);

digitalWrite(13,LOW); //claer trig

long duration=pulseIn(12,HIGH);//read echo pulse in micro sec

distance=(duration/2)/29.1;

}