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void setup()
for(char i=9; i<12; i++) pinMode(i, OUTPUT); //Saídas para o driver L293D
} //end setup
// --- Loop Infinito ---
void loop()
robotAhead();
dist_cm = measureDistance();
decision();
delay(100);
} //end loop
pulse = pulseIn(echo, HIGH); //Mede o tempo em que echo fica em nível alto e
armazena na variável pulse
} //end measureDistante
void trigPulse() //Função para gerar o pulso de trigger para o sensor HC-SR04
} //end trigPulse
delay(500);
{ //Sim...
} //end if
else //Não...
} //end else
} //end decision
void robotAhead() //Move o robô para frente
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
} //end robotAhead
digitalWrite(EN1, HIGH);
digitalWrite(EN2, HIGH);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
} //end robotBack
digitalWrite(EN1, HIGH);
digitalWrite(EN2, HIGH);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
} //end robotRight
digitalWrite(EN1, HIGH);
digitalWrite(EN2, HIGH);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
} //end robotLeft
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);