noFunctionmain.cpp

//motor pins
int motor1for = 4;
int motor1bac = 5;
int motor2for = 6;
int motor2bac = 7;

//ultrasonic Sensor pins
int trigPin = 11;    // Trigger
int echoPin = 12;    // Echo

// defines variables for Ultrasonic Sensor
long duration, cm, inches;


void setup() {
  //Serial Port begin
  Serial.begin (9600);

  //Define inputs and outputs for ultrasonic
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  
  //Define inputs and outputs for motors
  pinMode(motor1for, OUTPUT);
  pinMode(motor1bac, OUTPUT); 
  pinMode(motor2for, OUTPUT);
  pinMode(motor2bac, OUTPUT); 

}

 
void loop() {

  //---Prepares IQ Sensor---//
  
  //Charge capacitor for 1ms
  pinMode(2, OUTPUT);
  //Set pin to HIGH to charge up capacitor and start up QTI sensor
  digitalWrite(2, HIGH);
  delay(1);

  //Wait 1ms and let capacitor discharge
  pinMode(2, INPUT);

  
  delay(1);
  
  //Read pin 2 values and prints into the monitor
  byte sensor = digitalRead(2);
  Serial.print("Sensor: ");
  Serial.print(sensor); 
  Serial.print("");
  delay(255);

  
  //---Prepares the Ultrasonic Sensor---//
  
  // Give a short LOW pulse beforehand to refresh before a HIGH pulse  
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(5);

  // The sensor is triggered by a HIGH pulse of 10 or more microseconds
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
 
  // Read the signal from the sensor: a HIGH pulse whose
  // duration is the time (in microseconds) from the sending
  // of the ping to the reception of its echo off of an object.
  pinMode(echoPin, INPUT);
  duration = pulseIn(echoPin, HIGH);
 
  // Convert the time into a distance
  // The speed of sound is: 343m/s = 0.0343 cm/uS = 1/29.1 cm/uS 
  // or in inches: 13503.9in/s = 0.0135in/uS = 1/74in/uS  
  
  cm = (duration/2) / 29.1; // Divide by 29.1 or multiply by 0.0343

  //Prints variable distance in centimeters into monitor
  Serial.print(" Distance: ");
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();
  
  delay(250);

  //----------Motion---------//

  //QTI Sensor
  //executes code when QTI sensor sees black; extends
  if (sensor == 0)
  {
    digitalWrite(motor2for, HIGH);
    delay(4800);
    digitalWrite(motor2for, LOW);
    digitalWrite(motor1for, HIGH);
    digitalWrite(motor2bac, HIGH);
    delay(1600);
    digitalWrite(motor2bac, LOW);
    digitalWrite(motor1for,LOW);
  }
  
  //Ultra Sonic Sensor
  //executes code when Ultra Sonic Sensor sees a value less than 15; retracts
  else if (cm <15)
  {
    digitalWrite(motor1bac,HIGH);
    delay(3000);
    digitalWrite(motor1bac, LOW);
    digitalWrite(motor2bac, HIGH);
    delay(1600);
    digitalWrite(motor2bac, LOW);
  }
  
  else
  {
    digitalWrite(motor1for,LOW);
    digitalWrite(motor1bac,LOW);
    digitalWrite(motor2for,LOW);
    digitalWrite(motor2bac,LOW);
  }

}