Das rot geschriebene wird mir als Fehler makiert und der Fehler lautet expected initializer before 'int'.
Code:
//======================================================
// Ultrasonic check obstacle and avoid Experiment
//===============================================================
int Echo = A1; // Set Echo port
int Trig =A0; // Set Trig port
int Distance = 0;
int Echo1 = A4; // Set Echo port
int Trig1 =A5; // Set Trig port
int Distance1 = 0;
int Prev_dist = 0;
//==============================
//==============================
int right_led=4;
int left_led=3;
//==============================
//==============================
int counter
//==============================
//==============================
int Left_motor_go=8;
int Left_motor_back=9;
int Right_motor_go=6;
int Right_motor_back=7;
int Right_motor_en=5;
int Left_motor_en=10;
/Set Button port/
int key=13;
/Set BUZZER port/
int beep=12;
void setup()
{
{
//set outpups
pinMode(ledpin, OUTPUT);
Serial.begin(9600);
}
{
pinMode(led, INPUT);
digitalWrite(led, HIGH);
}
Serial.begin(9600);
pinMode(left_led, OUTPUT); // PIN 8 (PWM)
pinMode(right_led, OUTPUT);
pinMode(Left_motor_go, OUTPUT); // PIN 8 (PWM)
pinMode(Left_motor_back, OUTPUT); // PIN 9 (PWM)
pinMode(Right_motor_go, OUTPUT); // PIN 6 (PWM)
pinMode(Right_motor_back, OUTPUT); // PIN 7 (PWM)
pinMode(Right_motor_en,OUTPUT);// PIN 5 (PWM)
pinMode(Left_motor_en,OUTPUT);// PIN 10 (PWM)
pinMode(key,INPUT);// Set button as input
pinMode(beep,OUTPUT);// Set buzzer as output
pinMode(Echo, INPUT); // Set Echo port mode
pinMode(Trig, OUTPUT); // Set Trig port mode
pinMode(Echo1, INPUT); // Set Echo port mode
pinMode(Trig1, OUTPUT); // Set Trig port mode
digitalWrite(key,HIGH);//Initialize button
digitalWrite(beep,LOW);// set buzzer mute
}
void run(int right_speed, int left_speed) // ahead
{
digitalWrite(Left_motor_en,HIGH); // Left motor enable
analogWrite(Left_motor_en,157);
digitalWrite(Right_motor_en,HIGH); // Right motor enable
digitalWrite(Right_motor_go,HIGH); // right motor go ahead
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,right_speed);//PWM--Pulse Width Modulation(0~255). right motor go speed is 255.
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,HIGH); // set left motor go ahead
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,left_speed);//PWM--Pulse Width Modulation(0~255).left motor go speed is 135.
analogWrite(Left_motor_back,0);
// delay(time * 100); //Running time can be adjusted
}
void brake() //STOP
{
digitalWrite(Right_motor_go,LOW);//Stop the right motor
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);//Stop the left motor
digitalWrite(Left_motor_back,LOW);
//delay(time * 100); //Running time can be adjusted
}
void left(int time) //turn left
{
digitalWrite(Right_motor_go,HIGH); // right motor go ahead
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,190); // PWM--Pulse Width Modulation(0~255) control speed，right motor go speed is 255.
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // left motor stop
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,0);
delay(time * 100);
}
void spin_left(int time) //Left rotation
{
digitalWrite(Right_motor_go,HIGH);// right motor go ahead
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);// PWM--Pulse Width Modulation(0~255) control speed ,right motor go speed is 200.
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // left motor back off
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,200);// PWM--Pulse Width Modulation(0~255) control speed,left motor back speed is 200.
delay(time * 100);
}
void right(int time) //turn right
{
digitalWrite(Right_motor_go,LOW); // right motor stop
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,HIGH);// left motor go ahead
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,230);// PWM--Pulse Width Modulation(0~255) control speed ,left motor go speed is 255.
analogWrite(Left_motor_back,0);
delay(time * 100);
}
void spin_right(int time) //Right rotation
{
digitalWrite(Right_motor_go,LOW); // right motor back off
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,200);// PWM--Pulse Width Modulation(0~255) control speed
digitalWrite(Left_motor_go,HIGH);// left motor go ahead
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,200);// PWM--Pulse Width Modulation(0~255) control speed
analogWrite(Left_motor_back,0);
delay(time * 100);
}
void back(int time) //back off
{
digitalWrite(Right_motor_go,LOW); //right motor back off
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,150);// PWM--Pulse Width Modulation(0~255) control speed
analogWrite(Right_motor_en,165);
digitalWrite(Left_motor_go,LOW); //left motor back off
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,140);// PWM--Pulse Width Modulation(0~255) control speed
delay(time * 100);
}
//==========================================================
void Distance_test(int type) // Measuring front distance
{
int echo;
int trig;
if (type == 0) {
echo = Echo;
trig = Trig;
} else {
echo = Echo1;
trig = Trig1;
}
digitalWrite(trig, LOW); // set trig port low level for 2μs
delayMicroseconds(2);
digitalWrite(trig, HIGH); // set trig port high level for 10μs(at least 10μs)
delayMicroseconds(10);
digitalWrite(trig, LOW); // set trig port low level
float Fdistance = pulseIn(echo, HIGH); // Read echo port high level time(unit:μs)
Fdistance= Fdistance/58; // Distance(m) =(time(s) * 344(m/s)) / 2 / The speed of sound is 344m/s.*/
// ==> 2*Distance(cm) = time(μs) * 0.0344(cm/μs)
// ==> Distance(cm) = time(μs) * 0.0172 = time(μs) / 58
//Serial.print("Distance:"); //Output Distance(cm)
//Serial.println(Fdistance); //display distance
if (type == 0) {
Distance = Fdistance;
} else {
Distance1 = Fdistance;
}
}
//==========================================================
void keysacn()
{
int val;
val=digitalRead(key);// Reads the button ,the level value assigns to val
while(digitalRead(key))// When the button is not pressed
{
val=digitalRead(key);
}
while(!digitalRead(key))// When the button is pressed
{
delay(10); //delay 10ms
val=digitalRead(key);// Reads the button ,the level value assigns to val
if(val==LOW) //Double check the button is pressed
{
digitalWrite(beep,HIGH);//The buzzer sounds
delay(50);//delay 50ms
while(!digitalRead(key)) //Determine if the button is released or not
digitalWrite(beep,LOW);//mute
}
else
digitalWrite(beep,LOW);//mute
}
}
void print(char *str, int val)
{
Serial.print(str);
Serial.println(val);
}
void blinker(int num)
{
int cnt = 0;
while (cnt < num) {
digitalWrite(left_led, HIGH);
delay(200);
digitalWrite(right_led, HIGH);
delay(200);
digitalWrite(left_led, LOW);
delay(200);
digitalWrite(right_led, LOW);
delay(200);
cnt += 1;
}
}
void beeper(int num)
{
int cnt = 0;
while (cnt < num) {
digitalWrite(beep, HIGH);
delay(500);
digitalWrite(beep, LOW);
delay(500);
cnt += 1;
}
}
/zaehlen loop/
void loop1()
{
Serial.print(digitalRead(ledpin));
delay(100);
digitalWrite(ledpin, HIGH);
counter = counter + 1; // or counter++ does the same thing
Serial.print(counter);
delay(1000);
digitalWrite(ledpin, LOW);
delay(1000);
}
/main loop/
void loop()
{
int diff;
keysacn(); // Press KEY1 to start
Distance_test(1); // test distance: 0 = front sensor, 1 = side sensor
Prev_dist = Distance1;
run(190, 130); // run(right_speed, left_speed)
while(1)
{
Distance_test(1);
delay(10);
diff = Distance1 - Prev_dist;
if (diff < -20 || diff > 20) { // finds different object at least 20 cm from previous object
brake(); // stop
blinker(2); // blink twice
run(190, 130); // run again
delay(2000); // wait 2s
run(190, 130); // run again
}
Prev_dist = Distance1;
}
}
Code:
//======================================================
// Ultrasonic check obstacle and avoid Experiment
//===============================================================
int Echo = A1; // Set Echo port
int Trig =A0; // Set Trig port
int Distance = 0;
int Echo1 = A4; // Set Echo port
int Trig1 =A5; // Set Trig port
int Distance1 = 0;
int Prev_dist = 0;
//==============================
//==============================
int right_led=4;
int left_led=3;
//==============================
//==============================
int counter
//==============================
//==============================
int Left_motor_go=8;
int Left_motor_back=9;
int Right_motor_go=6;
int Right_motor_back=7;
int Right_motor_en=5;
int Left_motor_en=10;
/Set Button port/
int key=13;
/Set BUZZER port/
int beep=12;
void setup()
{
{
//set outpups
pinMode(ledpin, OUTPUT);
Serial.begin(9600);
}
{
pinMode(led, INPUT);
digitalWrite(led, HIGH);
}
Serial.begin(9600);
pinMode(left_led, OUTPUT); // PIN 8 (PWM)
pinMode(right_led, OUTPUT);
pinMode(Left_motor_go, OUTPUT); // PIN 8 (PWM)
pinMode(Left_motor_back, OUTPUT); // PIN 9 (PWM)
pinMode(Right_motor_go, OUTPUT); // PIN 6 (PWM)
pinMode(Right_motor_back, OUTPUT); // PIN 7 (PWM)
pinMode(Right_motor_en,OUTPUT);// PIN 5 (PWM)
pinMode(Left_motor_en,OUTPUT);// PIN 10 (PWM)
pinMode(key,INPUT);// Set button as input
pinMode(beep,OUTPUT);// Set buzzer as output
pinMode(Echo, INPUT); // Set Echo port mode
pinMode(Trig, OUTPUT); // Set Trig port mode
pinMode(Echo1, INPUT); // Set Echo port mode
pinMode(Trig1, OUTPUT); // Set Trig port mode
digitalWrite(key,HIGH);//Initialize button
digitalWrite(beep,LOW);// set buzzer mute
}
void run(int right_speed, int left_speed) // ahead
{
digitalWrite(Left_motor_en,HIGH); // Left motor enable
analogWrite(Left_motor_en,157);
digitalWrite(Right_motor_en,HIGH); // Right motor enable
digitalWrite(Right_motor_go,HIGH); // right motor go ahead
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,right_speed);//PWM--Pulse Width Modulation(0~255). right motor go speed is 255.
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,HIGH); // set left motor go ahead
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,left_speed);//PWM--Pulse Width Modulation(0~255).left motor go speed is 135.
analogWrite(Left_motor_back,0);
// delay(time * 100); //Running time can be adjusted
}
void brake() //STOP
{
digitalWrite(Right_motor_go,LOW);//Stop the right motor
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);//Stop the left motor
digitalWrite(Left_motor_back,LOW);
//delay(time * 100); //Running time can be adjusted
}
void left(int time) //turn left
{
digitalWrite(Right_motor_go,HIGH); // right motor go ahead
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,190); // PWM--Pulse Width Modulation(0~255) control speed，right motor go speed is 255.
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // left motor stop
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,0);
delay(time * 100);
}
void spin_left(int time) //Left rotation
{
digitalWrite(Right_motor_go,HIGH);// right motor go ahead
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);// PWM--Pulse Width Modulation(0~255) control speed ,right motor go speed is 200.
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // left motor back off
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,200);// PWM--Pulse Width Modulation(0~255) control speed,left motor back speed is 200.
delay(time * 100);
}
void right(int time) //turn right
{
digitalWrite(Right_motor_go,LOW); // right motor stop
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,HIGH);// left motor go ahead
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,230);// PWM--Pulse Width Modulation(0~255) control speed ,left motor go speed is 255.
analogWrite(Left_motor_back,0);
delay(time * 100);
}
void spin_right(int time) //Right rotation
{
digitalWrite(Right_motor_go,LOW); // right motor back off
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,200);// PWM--Pulse Width Modulation(0~255) control speed
digitalWrite(Left_motor_go,HIGH);// left motor go ahead
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,200);// PWM--Pulse Width Modulation(0~255) control speed
analogWrite(Left_motor_back,0);
delay(time * 100);
}
void back(int time) //back off
{
digitalWrite(Right_motor_go,LOW); //right motor back off
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,150);// PWM--Pulse Width Modulation(0~255) control speed
analogWrite(Right_motor_en,165);
digitalWrite(Left_motor_go,LOW); //left motor back off
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,140);// PWM--Pulse Width Modulation(0~255) control speed
delay(time * 100);
}
//==========================================================
void Distance_test(int type) // Measuring front distance
{
int echo;
int trig;
if (type == 0) {
echo = Echo;
trig = Trig;
} else {
echo = Echo1;
trig = Trig1;
}
digitalWrite(trig, LOW); // set trig port low level for 2μs
delayMicroseconds(2);
digitalWrite(trig, HIGH); // set trig port high level for 10μs(at least 10μs)
delayMicroseconds(10);
digitalWrite(trig, LOW); // set trig port low level
float Fdistance = pulseIn(echo, HIGH); // Read echo port high level time(unit:μs)
Fdistance= Fdistance/58; // Distance(m) =(time(s) * 344(m/s)) / 2 / The speed of sound is 344m/s.*/
// ==> 2*Distance(cm) = time(μs) * 0.0344(cm/μs)
// ==> Distance(cm) = time(μs) * 0.0172 = time(μs) / 58
//Serial.print("Distance:"); //Output Distance(cm)
//Serial.println(Fdistance); //display distance
if (type == 0) {
Distance = Fdistance;
} else {
Distance1 = Fdistance;
}
}
//==========================================================
void keysacn()
{
int val;
val=digitalRead(key);// Reads the button ,the level value assigns to val
while(digitalRead(key))// When the button is not pressed
{
val=digitalRead(key);
}
while(!digitalRead(key))// When the button is pressed
{
delay(10); //delay 10ms
val=digitalRead(key);// Reads the button ,the level value assigns to val
if(val==LOW) //Double check the button is pressed
{
digitalWrite(beep,HIGH);//The buzzer sounds
delay(50);//delay 50ms
while(!digitalRead(key)) //Determine if the button is released or not
digitalWrite(beep,LOW);//mute
}
else
digitalWrite(beep,LOW);//mute
}
}
void print(char *str, int val)
{
Serial.print(str);
Serial.println(val);
}
void blinker(int num)
{
int cnt = 0;
while (cnt < num) {
digitalWrite(left_led, HIGH);
delay(200);
digitalWrite(right_led, HIGH);
delay(200);
digitalWrite(left_led, LOW);
delay(200);
digitalWrite(right_led, LOW);
delay(200);
cnt += 1;
}
}
void beeper(int num)
{
int cnt = 0;
while (cnt < num) {
digitalWrite(beep, HIGH);
delay(500);
digitalWrite(beep, LOW);
delay(500);
cnt += 1;
}
}
/zaehlen loop/
void loop1()
{
Serial.print(digitalRead(ledpin));
delay(100);
digitalWrite(ledpin, HIGH);
counter = counter + 1; // or counter++ does the same thing
Serial.print(counter);
delay(1000);
digitalWrite(ledpin, LOW);
delay(1000);
}
/main loop/
void loop()
{
int diff;
keysacn(); // Press KEY1 to start
Distance_test(1); // test distance: 0 = front sensor, 1 = side sensor
Prev_dist = Distance1;
run(190, 130); // run(right_speed, left_speed)
while(1)
{
Distance_test(1);
delay(10);
diff = Distance1 - Prev_dist;
if (diff < -20 || diff > 20) { // finds different object at least 20 cm from previous object
brake(); // stop
blinker(2); // blink twice
run(190, 130); // run again
delay(2000); // wait 2s
run(190, 130); // run again
}
Prev_dist = Distance1;
}
}
