# Carro sensor ultrassônico

**Código**

#include <Ultrasonic.h>;

#define TRIGGER_PIN 4
#define ECHO_PIN 5

Ultrasonic ultrasonic(TRIGGER_PIN, ECHO_PIN);

#define IN1 2 //6
#define IN2 7
#define IN3 8
#define IN4 9
#define ENA 10
#define ENB 6 //11
#define TON 3
#define LUX 12

void setup()
{
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
pinMode(LUX,OUTPUT);
analogWrite(ENA,100);
analogWrite(ENB,100);
delay(1000);
}

void loop()
{
robo_frente();
float dist_cm = distancia();

if(dist_cm < 25)
{
decisao();
}

delay(100);
}

float distancia()
{
float cmMsec;
long microsec = ultrasonic.timing();
cmMsec = ultrasonic.convert(microsec, Ultrasonic::CM);
return(cmMsec);
delay(10);
}

void robo_frente()
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
}

void robo_esquerda()
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
}

void robo_parado()
{

digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);

}

void decisao()
{
robo_parado();
tone(TON,800,600);
digitalWrite(LUX,HIGH);
delay(700);
digitalWrite(LUX,LOW);
robo_esquerda();
delay(400);
robo_parado();
delay(500);
//noTone(12);
}