with_functions.ino

// Include the Servo library
#include <Servo.h>

// --- Pin Definitions (as variables) ---
// L298N Motor Driver Pins
const int enA = 7;            // Enable A (Left Motor Speed)
const int leftMotorIn1 = 6;   // IN1 (Left Motor)
const int leftMotorIn2 = 5;   // IN2 (Left Motor)
const int rightMotorIn1 = 4;  // IN3 (Right Motor)
const int rightMotorIn2 = 3;  // IN4 (Right Motor)
const int enB = 2;            // Enable B (Right Motor Speed)

// Ultrasonic Sensor Pins
const int trigPin = 9;
const int echoPin = 8;

// Servo Motor Pin
const int servoPin = 10;

// --- STUDENT CALIBRATION VARIABLES ---
int motorSpeed = 180;     // General speed for forward/turning (0-255)
int stopDistance = 20;    // How close to get to a wall before stopping (cm).
int turnDelay = 450;      // How long to run motors for a 90-degree turn (ms)
int servoWaitDelay = 400; // How long to wait for servo to move (ms)
int servoLeftAngle = 130;
int servoCenterAngle = 90;
int servoRightAngle = 50; 

// Create our servo object
Servo headServo;

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

  // Set all motor pins as OUTPUTs
  pinMode(enA, OUTPUT);
  pinMode(leftMotorIn1, OUTPUT);
  pinMode(leftMotorIn2, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(rightMotorIn1, OUTPUT);
  pinMode(rightMotorIn2, OUTPUT);

  // Set sensor pins
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  // Attach the servo
  headServo.attach(servoPin);
  headServo.write(servoCenterAngle); // Start facing center

  Serial.println("Procedural Reactive Avoider - Ready.");
  Serial.println("Ensure calibration variables are set!");
  delay(1000);
}


void loop() {

  getDistance();

  // IF: The path in front is clear
  if (frontDistance > stopDistance) {
    moveForward();
  }
  else {
    
    stop();
    getDistance();
    
    // 2c. Make the decision
    if (leftDistance > rightDistance) {        
      turnLeft();  
    } else {      
      turnRight();  
    }
    stop();
  }
}