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Create Jordan #393

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94 changes: 94 additions & 0 deletions Jordan
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Original file line number Diff line number Diff line change
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#include <Servo.h>

const int trigPin = 9;
const int echoPin = 10;
const int motorLeft = 5;
const int motorRight = 6;
const int servoPin = 3;

const int angleCenter = 90;
const int angleLeft = 150;
const int angleRight = 30;

Servo servo;

void setup() {
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(motorLeft, OUTPUT);
pinMode(motorRight, OUTPUT);
Serial.begin(9600);

servo.attach(servoPin);
servo.write(angleCenter);
}

long getDistance() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
return pulseIn(echoPin, HIGH, 20000) * 0.034 / 2; // Timeout added
}

long getAverageDistance() {
long total = 0;
for (int i = 0; i < 5; i++) {
total += getDistance();
delay(10);
}
return total / 5;
}

int scanAngle(int angle) {
servo.write(angle);
delay(300); // انتظار حتى يثبت السرفو
return getAverageDistance();
}

void loop() {
long distance = getAverageDistance();
Serial.print("Center: "); Serial.println(distance);

if (distance == 0 || distance > 300) {
digitalWrite(motorLeft, LOW);
digitalWrite(motorRight, LOW);
return;
}

if (distance < 20) {
// توقف مؤقت وتراجع بسيط
digitalWrite(motorLeft, LOW);
digitalWrite(motorRight, LOW);
delay(200);

// مسح الاتجاهات
int left = scanAngle(angleLeft);
int right = scanAngle(angleRight);
servo.write(angleCenter);
delay(200); // العودة للمنتصف

Serial.print("Left: "); Serial.print(left);
Serial.print(" | Right: "); Serial.println(right);

// اتخاذ القرار
if (left > right) {
// انعطاف لليسار
digitalWrite(motorLeft, LOW);
digitalWrite(motorRight, HIGH);
delay(500);
} else {
// انعطاف لليمين
digitalWrite(motorLeft, HIGH);
digitalWrite(motorRight, LOW);
delay(500);
}
} else {
// السير للأمام
digitalWrite(motorLeft, HIGH);
digitalWrite(motorRight, HIGH);
}

delay(50);
}