Keywish Hummer-Bot-2.0 Instruction Manual page 73

3.2.4.5 Wire connection
As shown in the below figure, the servo's "S" is connected to pin 13, the ultrasonic "Trlg" is connected
to pin 2, the "Echo" is connected to pin 3, the "VCC" pin is connected to VCC, and the "GND" pin is
connected to GND.
Figure 3.2.33 Wiring diagram of steering gear, ultrasonic wave and expansion board
3.2.4.6 Software design
3.2.4.5.1 Program Code
Code path "hummer-bot\Lesson\ModuleDemo\UltrasonicAvoidance\UltrasonicAvoidance"
#include "Ultrasonic.h"
#define INPUT1_PIN 6
#define INPUT2_PIN 10
#define INPUT4_PIN 9
#define INPUT3_PIN 5
byte TrigPin = 2;
byte EchoPin = 3;
byte ServoPin = 13;
const int leftPin
const int rightPin
int da, dl, dr;
byte left, right;
Ultrasonic mUltrasonic(TrigPin,EchoPin,ServoPin);
void setup() {
Serial.begin(9600);
pinMode(INPUT1_PIN, OUTPUT);
pinMode(INPUT2_PIN, OUTPUT);
pinMode(INPUT3_PIN, OUTPUT);
pinMode(INPUT4_PIN, OUTPUT);
mUltrasonic.SetServoBaseDegree(90);
// PWMB
// DIRB --- right
// PWMA
// DIRA --- left
= A3;
= A4;
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