How do I use two ultrasonic sensors to control a 5 V motor?

Question

I've hooked up two ultrasonic sensors to my breadboard and I also got a 5 V motor installed. I also got the diode installed and the usual set up. I can easily control the motor with one sensor.

I want the motor to run at let's say 100 once I start it up:

• The first sensor should be used to slowly slow down the motor when an object is placed in front of it
• The second sensor should be used to slowly speed up the motor when an object is placed in front of it

I do not want the speed to return to 100 once the object is removed. It should remain at the same speed according to which sensor was used.

Tell me if I have to clarify anything in the comments.

Code

int motorPin = 9;
int trigPin = 13;
int echoPin = 12;
int trigPin2 = 5;
int echoPin2 = 4;

void setup() {
  Serial.begin (9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(trigPin2, OUTPUT);
  pinMode(echoPin2, INPUT);
  pinMode(motorPin, OUTPUT);
}

void loop() {
  int duration, distance;
  digitalWrite (trigPin, HIGH);
  delayMicroseconds (1000);
  digitalWrite (trigPin, LOW);
  duration = pulseIn (echoPin, HIGH);
  distance = (duration/2) / 29.1;
  if (distance < 20) {  // Distance from sensor
    analogWrite (motorPin, 50);
  } else {
    int duration, distance;
    digitalWrite (trigPin2, HIGH);
    delayMicroseconds (1000);
    digitalWrite (trigPin2, LOW);
    duration = pulseIn (echoPin2, HIGH);
    distance = (duration/2) / 29.1;
    if (distance > 20) {  // Distance from sensor
      analogWrite (motorPin, 150);
    }
    if  (distance > 20) {  // Distance from sensor
      Serial.println("Out of range");
    } else {
      Serial.print(distance);
     Serial.println(" cm");
    }
    delay(500);
  }
}

Answer 1

This is very simple using the map() instruction. Here's the code you would use (feel free to modify values:

int speed = 112 + map(distance, 0, 20, 0, 112) - map(distance2, 0, 20, 0, 112);

So if both sensors gave equal values, they would offset each other. To make it still work if an object is removed, you could just use the last distance/distance_2 value and update the other.

---

One issue with this approach is, if the line of transformation of the object is not perpendicular to the line of the pings, the value will go:

10 → 11 → 12 → 13 → 14 → 15 → 16 → 17 → 18 → 19 → 20 → [Out of range]

I've added some pretty animations to show you what I mean:

Perpendicular:

Collinear:

---

As I understand, this is what you want:

int motorPin = 9;
int trigPin = 13;
int echoPin = 12;
int trigPin2 = 5;
int echoPin2 = 4;
int postdist = 112;
int postdist2 = 112;

void setup() {
  Serial.begin (9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(trigPin2, OUTPUT);
  pinMode(echoPin2, INPUT);
  pinMode(motorPin, OUTPUT);
}

void loop() {
  //First Read
  int duration, distance;
  digitalWrite (trigPin, HIGH);
  delayMicroseconds (1000);
  digitalWrite (trigPin, LOW);
  duration = pulseIn (echoPin, HIGH);
  distance = (duration/2) / 29.1;
  int ltol = postdist - 5;
  int htol = postdist + 5;
  if (distance > 20 || !(distance > ltol && distance < htol)) {  // Distance from sensor
    Serial.println("Out of range");
    distance = postdist;
  }
  //Second Read
  int duration2, distance2;
  digitalWrite (trigPin2, HIGH);
  delayMicroseconds (1000);
  digitalWrite (trigPin2, LOW);
  duration2 = pulseIn (echoPin2, HIGH);
  distance2 = (duration2/2) / 29.1;
  int ltol2 = postdist2 - 5;
  int htol2 = postdist2 + 5;
  if (distance2 > 20 || !(distance2 > ltol2 && distance2 < htol2)) {  // Distance from sensor
    Serial.println("Out of range");
    distance2 = postdist2;
  }
  //Math:
  Serial.print("Distances-1: ");
  Serial.print(distance);
  Serial.print(" cm 2: ");
  Serial.print("Distances-1: ");
  Serial.print(distance2);
  Serial.println(" cm");
  postdist = distance;
  postdist2 = distance2;
  int speed = 112 + map(distance, 0, 20, 0, 112) - map(distance2, 0, 20, 0, 112); 
  if(speed < 60) {speed = 60;} //Modify 60 to meet your needs for minimum threshold
  analogWrite (motorPin, speed);
  Serial.print("Motor Speed: ");
  Serial.println(speed);
  delay(500);
}

Changelog: forgot to edit postdist/postdist2 at end of cycle, added minimum threshold, prevent very small changes in voltage to keep voltage stable and prevent noise.