Probleme mit dem Antrieb

[Toran]

okay.

const int s0 = 53;
const int s1 = 52;
const int s2 = 51;
const int s3 = 50;
const int out = 40;
const int motor1 = 10;
const int motor2 = 11;
const int motor3 = 12;
const int motor4 = 13;
const int trigger = A1;
const int echo = A0;
float red=0,green=0,blue=0;
float redA[10], greenA[10], blueA[10];
float rav=0,gav=0,bav=0;
int counter;
int state=0;
unsigned long time=0;
int currentTime=0;
int previosTime=0;


void setup()
{
  pinMode(motor1, OUTPUT);
  pinMode(motor2, OUTPUT);
  pinMode(motor3, OUTPUT);
  pinMode(motor4,OUTPUT);
  
  pinMode(trigger, OUTPUT);
  pinMode(echo, INPUT);
 // pinMode(irPin,INPUT);

  pinMode(s0, OUTPUT);
  pinMode(s1, OUTPUT);
  pinMode(s2, OUTPUT);
  pinMode(s3, OUTPUT);
  pinMode(out, INPUT);

  //Scaling to 20% frequency
  digitalWrite(s0, HIGH);
  digitalWrite(s1, LOW);
  Serial.begin(9600);
  
}

int getDistance()
{
  long distance=0;
  long t=0;
  digitalWrite(trigger,LOW);
  delayMicroseconds(3);
  noInterrupts();
  digitalWrite(trigger,HIGH);
  delayMicroseconds(10);
  digitalWrite(trigger,LOW);
  t=pulseIn(echo,HIGH);
  noInterrupts();
  t=(t/2);
  distance=(t/29.1);
  return(distance);
}

void driveForward()
{
  analogWrite(motor1,200);
  analogWrite(motor4,223);
}

void driveBackward()
{
  analogWrite(motor2,200);
  analogWrite(motor3,223);
}

void turnLeft()
{
  analogWrite(motor1,0);
  analogWrite(motor4,200);
}
void turnRight()
{
  
  analogWrite(motor1,200);
  analogWrite(motor4,0);
}
void brake()
{
  analogWrite(motor1,0);
  analogWrite(motor2,0);
  analogWrite(motor3,0);
  analogWrite(motor4,0);
}


void loop()
{
 
  int distance=getDistance();
  Serial.println(distance);
  if(distance<15)
  {
    turnRight();
   // driveBackward();
    
  }
  else 
  {
    driveForward();
  }
    
  
  

}

https://www.pic-upload.de/view-35155...tplan.jpg.html

- - - Aktualisiert - - -

Problem gelöst. Danke für die Hilfe.