3 Ultraschallsensoren HC-SR04 einbinden-> finde den Fehler nicht

[danilo01]

Danke für die Antworten.
Ich habe den Sketch noch komplett überarbeitet.

Der Ablauf stimmt auch fast, leider nur fast.

Als erstes mal der grobe Aufbau. Ist erst mal nur für das programmieren.
Die Kabel bleiben natürlich nicht so



Und hier der Sketch:

int frontEchoPin = 12;
int frontTriggerPin = 11;
int leftEchoPin = 30;
int leftTriggerPin = 31;
int rightEchoPin = 33;
int rightTriggerPin = 32;
int enA = 2;
int motorL1 = 5;
int motorL2 = 6;
int motorR1 = 3;
int motorR2 = 4;
int enB = 7;
volatile float maxFrontDistance = 30.00;
volatile float frontDuration, frontDistanceCm, leftDuration, leftDistanceCm, rightDuration, rightDistanceCm;
volatile float maxLeftDistance, maxRightDistance = 30.00;
void setup() {
  // serial
  Serial.begin(9600);
  // ultrasonic
  pinMode(frontTriggerPin, OUTPUT);
  pinMode(frontEchoPin, INPUT);
  pinMode(leftTriggerPin, OUTPUT);
  pinMode(leftEchoPin, INPUT);
  pinMode(rightTriggerPin, OUTPUT);
  pinMode(rightEchoPin, INPUT);
  // motors
  pinMode(motorL1, OUTPUT);
  pinMode(motorL2, OUTPUT);
  pinMode(motorR1, OUTPUT);
  pinMode(motorR2, OUTPUT);
}
void loop() {
  // front distance check
  checkFrontDistance();
  if (frontDistanceCm < maxFrontDistance) {
    Serial.println("Too close");
    checkLeftDistance();
    delay(100);
    checkRightDistance();
    delay(100);
    if (leftDistanceCm < rightDistanceCm)
    {
      moveBackward;
      delay(100);
      moveRight();
    }
    else if (leftDistanceCm > rightDistanceCm) 
    {
      moveBackward;
      delay(100);
      moveLeft();
    }
  }
  else {
    Serial.println("OK");
    moveForward();
  }
  // left distance check
  checkLeftDistance();
  if (leftDistanceCm < maxLeftDistance) {
    Serial.println("Left too close");
    delay(100);
    checkFrontDistance();
    delay(100);
    checkRightDistance();
    delay(100);
    if (frontDistanceCm > rightDistanceCm)
    {
      moveForward();
     
    }
    else if (frontDistanceCm < rightDistanceCm) 
    {
      moveBackward;
      delay(100);
      moveRight();
      
    }
  }
  // right distance check
  checkRightDistance();
  if (rightDistanceCm < maxRightDistance) {
    Serial.println("Right too close");
    delay(100);
    checkFrontDistance();
    delay(100);
    checkLeftDistance();
    delay(100);
    if (frontDistanceCm > leftDistanceCm)
      moveForward();
    else if (frontDistanceCm < leftDistanceCm) 
    {
      moveBackward;
      delay(100);
      moveLeft();
   
    }
  }
}
void checkFrontDistance() {
  digitalWrite(frontTriggerPin, LOW);  //para generar un pulso limpio ponemos a LOW 4us
  delayMicroseconds(4);
  digitalWrite(frontTriggerPin, HIGH);  //generamos Trigger (disparo) de 10us
  delayMicroseconds(10);
  digitalWrite(frontTriggerPin, LOW);
  frontDuration = pulseIn(frontEchoPin, HIGH);  //medimos el tiempo entre pulsos, en microsegundos
  frontDistanceCm = frontDuration * 10 / 292 / 2;  //convertimos a distancia, en cm
  Serial.print("Distance: ");
  Serial.print(frontDistanceCm);
  Serial.println(" cm");
}
void checkLeftDistance() {
  digitalWrite(leftTriggerPin, LOW);  //para generar un pulso limpio ponemos a LOW 4us
  delayMicroseconds(4);
  digitalWrite(leftTriggerPin, HIGH);  //generamos Trigger (disparo) de 10us
  delayMicroseconds(10);
  digitalWrite(leftTriggerPin, LOW);
  leftDuration = pulseIn(leftEchoPin, HIGH);  //medimos el tiempo entre pulsos, en microsegundos
  leftDistanceCm = leftDuration * 10 / 292 / 2;  //convertimos a distancia, en cm
  Serial.print("Left distance: ");
  Serial.print(leftDistanceCm);
  Serial.println(" cm");
}
void checkRightDistance() {
  digitalWrite(rightTriggerPin, LOW);  //para generar un pulso limpio ponemos a LOW 4us
  delayMicroseconds(4);
  digitalWrite(rightTriggerPin, HIGH);  //generamos Trigger (disparo) de 10us
  delayMicroseconds(10);
  digitalWrite(rightTriggerPin, LOW);
  rightDuration = pulseIn(rightEchoPin, HIGH);  //medimos el tiempo entre pulsos, en microsegundos
  rightDistanceCm = rightDuration * 10 / 292 / 2;  //convertimos a distancia, en cm
  Serial.print("Right distance: ");
  Serial.print(rightDistanceCm);
  Serial.println(" cm");
}
void moveBackward() {
  Serial.println("Backward.");
  digitalWrite(motorL1, LOW);
  digitalWrite(motorL2, HIGH);
  digitalWrite(motorR1, LOW);
  digitalWrite(motorR2, HIGH);
    analogWrite(enA, 100);
    analogWrite(enB, 100);
}
void moveForward() {
  Serial.println("Forward.");
  digitalWrite(motorL1, HIGH);
  digitalWrite(motorL2, LOW);
  digitalWrite(motorR1, HIGH);
  digitalWrite(motorR2, LOW);
   analogWrite(enA, 130);
   analogWrite(enB, 130);
}
void moveLeft() {
  Serial.println("Left.");
  digitalWrite(motorL1, HIGH);
  digitalWrite(motorL2, LOW);
  digitalWrite(motorR1, LOW);
  digitalWrite(motorR2, HIGH);
   analogWrite(enA, 90);
   analogWrite(enB, 100);
}
void moveRight() {
  Serial.println("Right.");
  digitalWrite(motorL1, LOW);
  digitalWrite(motorL2, HIGH);
  digitalWrite(motorR1, HIGH);
  digitalWrite(motorR2, LOW);
   analogWrite(enA, 90);
   analogWrite(enB, 100); 
}
void moveStop()
{
  digitalWrite(4,LOW);
   digitalWrite(3,LOW);
   digitalWrite(6,LOW);                                  
   digitalWrite(5,LOW);
   analogWrite(enA, 0);
   analogWrite(enB, 0); 
}

Mein Problem ist jetzt das der "leftDistance" rum Zickt.
Ich finde der Fehler leider nicht, den Ultra habe ich schon getauscht.
Aber es ist keine Veränderung zu sehen.



Woran könnte es liegen?
An der Verkabelung?
Könnten die Ultras durch die Motoren gestört werden?

Vielleicht kann mir jemand auf die Sprünge helfen.


Gruß

Danilo