Hier der sketch
int ustrig=2;
int usecho=7;
long dauer=0;
long entfernung=0;
#include <Stepper.h>
int SPU = 2048;
Stepper Motor(SPU, 3,5,4,6);
#include <Servo.h>
Servo servoBlau;
Servo servoGros;
void setup() {
Motor.setSpeed(5);
Serial.begin (9600);
pinMode(ustrig, OUTPUT);
pinMode(usecho, INPUT);
servoBlau.attach(8);
servoGros.attach(9);
}
void loop() {
Motor.step(512); //1/4
delay(2000);
digitalWrite(ustrig, LOW);
digitalWrite(ustrig, HIGH);
digitalWrite(ustrig, LOW);
dauer = pulseIn(usecho, HIGH);
entfernung = (dauer/2) * 0.03432;
if (entfernung >= 500 || entfernung <= 0)
{
Serial.println("Kein Messwert");
}
else
{
Serial.print(entfernung);
Serial.println(" cm");
delay(1000);
servoGros.write(180);
delay(3000);
servoBlau.write(135);
delay(3000);
servoGros.write(90);
delay(3000);
servoBlau.write(45);
delay(3000);
servoGros.write(180);
}
Motor.step(-512); //1/4
delay(2000);
digitalWrite(ustrig, LOW);
digitalWrite(ustrig, HIGH);
digitalWrite(ustrig, LOW);
dauer = pulseIn(usecho, HIGH);
entfernung = (dauer/2) * 0.03432;
if (entfernung >= 500 || entfernung <= 0)
{
Serial.println("Kein Messwert");
}
else
{
Serial.print(entfernung);
Serial.println(" cm");
delay(1000);
servoGros.write(180);
delay(3000);
servoBlau.write(135);
delay(3000);
servoGros.write(90);
delay(3000);
servoBlau.write(45);
delay(3000);
servoGros.write(180);
}
}
