Робот, объезжающий препятствия, на Arduino: руководство по HC-SR04 и сервоприводу

1#include <Servo.h>
2
3const int SERVO_PIN = 3;
4const int TRIG = A0, ECHO = A1;        // analog pinler dijital pin olarak / analog pins used as digital pins
5Servo head;
6
7int pingCm() {
8  digitalWrite(TRIG, LOW);  delayMicroseconds(2);
9  digitalWrite(TRIG, HIGH); delayMicroseconds(10);   // 10 µs tetik darbesi / 10 µs trigger pulse
10  digitalWrite(TRIG, LOW);
11  unsigned long t = pulseIn(ECHO, HIGH, 25000UL);    // en fazla 25 ms bekle (~4,3 m) / wait at most 25 ms (~4.3 m)
12  return t / 58;                                     // 0 = yankı yok / 0 = no echo
13}
14
15void setup() {
16  Serial.begin(9600);
17  pinMode(TRIG, OUTPUT);
18  pinMode(ECHO, INPUT);
19  head.attach(SERVO_PIN);
20  head.write(90);                                    // önce ortala / center first
21  delay(1000);
22}
23
24void loop() {
25  const int angles[] = {20, 55, 90, 125, 160};
26  for (int a : angles) {
27    head.write(a);
28    delay(400);                                      // servo yerine otursun / let the servo settle
29    Serial.print(a);
30    Serial.print(F(" derece / degrees: "));
31    Serial.print(pingCm());
32    Serial.println(F(" cm"));
33  }
34  Serial.println();
35  head.write(90);
36  delay(2000);
37}

1#include <Servo.h>
2
3const int ENA = 5, IN1 = 7, IN2 = 8;            // sol motor / left motor
4const int ENB = 6, IN3 = 9, IN4 = 4;            // sağ motor / right motor
5const int SERVO_PIN = 3;
6const int TRIG = A0, ECHO = A1;
7
8const int STOP_CM = 25;                         // bu mesafede dur / stop at this distance
9const int SPEED = 170;                          // düz gidiş hızı / cruising speed
10const int TURN = 170;                           // dönüş hızı / turning speed
11const int LEFT_ANGLE = 160, RIGHT_ANGLE = 20;   // ters ise yer değiştir / swap if reversed
12
13Servo head;
14
15void drive(int left, int right) {               // her biri -255 … 255 / each -255 … 255
16  digitalWrite(IN1, left > 0);  digitalWrite(IN2, left < 0);
17  digitalWrite(IN3, right > 0); digitalWrite(IN4, right < 0);
18  analogWrite(ENA, abs(left));
19  analogWrite(ENB, abs(right));
20}
21
22int pingCm() {
23  digitalWrite(TRIG, LOW);  delayMicroseconds(2);
24  digitalWrite(TRIG, HIGH); delayMicroseconds(10);
25  digitalWrite(TRIG, LOW);
26  unsigned long t = pulseIn(ECHO, HIGH, 25000UL);
27  if (t == 0) return 400;                       // yankı yok: önü açık say / no echo: treat as open
28  return t / 58;
29}
30
31int lookAt(int angle) {
32  head.write(angle);
33  delay(400);                                   // servo dönsün ve dursun / let the servo turn and settle
34  return pingCm();
35}
36
37void setup() {
38  int pins[] = {ENA, IN1, IN2, ENB, IN3, IN4, TRIG};
39  for (int p : pins) pinMode(p, OUTPUT);
40  pinMode(ECHO, INPUT);
41  drive(0, 0);
42  head.attach(SERVO_PIN);
43  head.write(90);
44  delay(3000);                                  // yere koyman için süre / time to put it on the floor
45}
46
47void loop() {
48  int front = pingCm();
49  if (front > STOP_CM) {
50    drive(SPEED, SPEED);                        // yol açık: ileri / path clear: forward
51    delay(60);                                  // ölçümler arası 60 ms / 60 ms between readings
52    return;
53  }
54
55  drive(0, 0);                                  // 1) dur / 1) stop
56  delay(150);
57  drive(-SPEED, -SPEED);                        // 2) biraz geri çekil / 2) back off a little
58  delay(300);
59  drive(0, 0);
60
61  int left = lookAt(LEFT_ANGLE);                // 3) iki yana bak / 3) look both ways
62  int right = lookAt(RIGHT_ANGLE);
63  head.write(90);
64  delay(300);
65
66  if (left < STOP_CM && right < STOP_CM) {      // iki yan kapalı: geri dön / both blocked: turn around
67    drive(-TURN, TURN);
68    delay(700);
69  } else if (left > right) {                    // 4) daha açık tarafa dön / 4) turn to the more open side
70    drive(-TURN, TURN);
71    delay(350);
72  } else {
73    drive(TURN, -TURN);
74    delay(350);
75  }
76  drive(0, 0);
77  delay(100);
78}

1#include <Servo.h>
2#include <SoftwareSerial.h>
3
4// Pinler / Pins
5const int ENA = 5, IN1 = 7, IN2 = 8;     // sol motor / left motor
6const int ENB = 6, IN3 = 9, IN4 = 4;     // sağ motor / right motor
7const int SERVO_PIN = 3;
8const int TRIG = A0, ECHO = A1;
9const int IR_LEFT = A2, IR_RIGHT = A3;   // LOW = engel (takılı değilse HIGH) / LOW = obstacle (HIGH if not fitted)
10SoftwareSerial bt(10, 11);               // RX, TX → HC-05 TXD, RXD (RXD bölücüyle / RXD via divider)
11
12// Ayarlar / Settings
13const int BACK_CM = 12;                  // daha yakınsa geri çekil / closer: back off first
14const int STOP_CM = 25;                  // dur ve tara / stop and scan
15const int SLOW_CM = 60;                  // yavaşlamaya başla / start slowing down
16const int GUARD_CM = 15;                 // manuel modda çarpışma koruması / collision guard in manual mode
17const int MAX_CM = 400;
18const int CRUISE = 200, SLOW = 130, TURN = 170;   // PWM hızları / PWM speeds
19const int SERVO_CENTER = 90;             // sensör öne bakmıyorsa düzelt / adjust if not facing ahead
20const int SERVO_DIR = 1;                 // +70 sola bakmıyorsa -1 yap / set to -1 if +70 doesn't look left
21const float MS_PER_DEG = 4.0;            // derece başına ms, kalibre et / ms per degree, calibrate
22const unsigned long BT_TIMEOUT = 600;    // manuelde komut kesilirse dur / stop if commands stop
23
24Servo head;
25bool autoMode = true;
26int manualLeft = 0, manualRight = 0, manualSpeed = 200;
27unsigned long lastCmd = 0, lastPing = 0;
28
29void drive(int left, int right) {        // her biri -255 … 255 / each -255 … 255
30  left = constrain(left, -255, 255);
31  right = constrain(right, -255, 255);
32  digitalWrite(IN1, left > 0);  digitalWrite(IN2, left < 0);
33  digitalWrite(IN3, right > 0); digitalWrite(IN4, right < 0);
34  analogWrite(ENA, abs(left));
35  analogWrite(ENB, abs(right));
36}
37
38int pingCm() {
39  digitalWrite(TRIG, LOW);  delayMicroseconds(2);
40  digitalWrite(TRIG, HIGH); delayMicroseconds(10);
41  digitalWrite(TRIG, LOW);
42  unsigned long t = pulseIn(ECHO, HIGH, 25000UL);  // ~4,3 m zaman aşımı / ~4.3 m timeout
43  return t == 0 ? MAX_CM : (int)(t / 58);          // yankı yok = açık alan / no echo = open space
44}
45
46int distanceCm() {                       // 3 ölçümün ortancası / median of 3 readings
47  int a = pingCm(); delay(60);
48  int b = pingCm(); delay(60);
49  int c = pingCm();
50  return max(min(a, b), min(max(a, b), c));
51}
52
53bool irBlocked(int pin) {
54  return digitalRead(pin) == LOW;
55}
56
57int lookAt(int offset) {                 // + sol, - sağ (derece) / + left, - right (degrees)
58  head.write(SERVO_CENTER + SERVO_DIR * offset);
59  delay(300);                            // servo yerine otursun / let the servo settle
60  return distanceCm();
61}
62
63void turnBy(int deg) {                   // + sola, - sağa / + left, - right
64  if (deg > 0) drive(-TURN, TURN);
65  else drive(TURN, -TURN);
66  delay((unsigned long)(abs(deg) * MS_PER_DEG));
67  drive(0, 0);
68  delay(100);
69}
70
71void avoid() {
72  drive(0, 0);                           // 1) dur / 1) stop
73  delay(120);
74  int front = distanceCm();              // ortancayla doğrula / confirm with the median
75  bool sides = irBlocked(IR_LEFT) || irBlocked(IR_RIGHT);
76  if (front >= STOP_CM && !sides) return;          // yanlış alarm / false alarm
77
78  if (front < BACK_CM || sides) {        // 2) çok yakın: geri çekil / 2) too close: back off
79    drive(-TURN, -TURN);
80    delay(350);
81    drive(0, 0);
82  }
83
84  const int offsets[] = {70, 35, -35, -70};        // 3) tara / 3) scan
85  int bestOffset = 0, bestCm = 0;
86  for (int off : offsets) {
87    int cm = lookAt(off);
88    if (cm > bestCm) { bestCm = cm; bestOffset = off; }
89  }
90  head.write(SERVO_CENTER);
91  delay(200);
92
93  if (bestCm < STOP_CM + 10) {           // her yön kapalı: çıkmaz / every way blocked: dead end
94    drive(-TURN, -TURN);
95    delay(400);
96    turnBy(180);
97  } else {
98    turnBy(bestOffset);                  // 4) en açık yöne dön / 4) turn to the most open direction
99  }
100}
101
102void autoStep() {
103  if (millis() - lastPing < 60) return;  // 60 ms'de bir ölç / measure every 60 ms
104  lastPing = millis();
105  int d = pingCm();
106  bool l = irBlocked(IR_LEFT), r = irBlocked(IR_RIGHT);
107
108  if (d < STOP_CM || (l && r)) {
109    avoid();
110  } else if (l) {                        // sol köşede engel: sağa kaç / front-left: dodge right
111    drive(TURN, -TURN);
112    delay(150);
113  } else if (r) {                        // sağ köşede engel: sola kaç / front-right: dodge left
114    drive(-TURN, TURN);
115    delay(150);
116  } else if (d < SLOW_CM) {
117    int s = map(d, STOP_CM, SLOW_CM, SLOW, CRUISE);   // yaklaştıkça yavaşla / slow down as you get closer
118    drive(s, s);
119  } else {
120    drive(CRUISE, CRUISE);
121  }
122}
123
124void manualStep() {
125  if (millis() - lastCmd > BT_TIMEOUT) {           // komut yok: dur / no commands: stop
126    manualLeft = 0;
127    manualRight = 0;
128  }
129  static int front = MAX_CM;
130  if (millis() - lastPing >= 60) {
131    lastPing = millis();
132    front = pingCm();
133  }
134  bool forward = manualLeft > 0 && manualRight > 0;
135  if (forward && front < GUARD_CM) drive(0, 0);    // çarpışma koruması / collision guard
136  else drive(manualLeft, manualRight);
137}
138
139void handleBluetooth() {
140  while (bt.available()) {
141    char c = bt.read();
142    Serial.println(c);                   // gelen harfi göster / show the incoming letter
143    lastCmd = millis();
144    if (c == 'A') {                      // otomatik mod / auto mode
145      autoMode = true;
146      continue;
147    }
148    if (c == 'M') {                      // manuel mod / manual mode
149      autoMode = false;
150      manualLeft = manualRight = 0;
151      drive(0, 0);
152      head.write(SERVO_CENTER);
153      continue;
154    }
155    if (autoMode) continue;              // otomatikte yön harflerini yok say / ignore in auto mode
156    int s = manualSpeed;
157    switch (c) {
158      case 'F': manualLeft = s;  manualRight = s;  break;   // ileri / forward
159      case 'B': manualLeft = -s; manualRight = -s; break;   // geri / backward
160      case 'L': manualLeft = -s; manualRight = s;  break;   // yerinde sola / spin left
161      case 'R': manualLeft = s;  manualRight = -s; break;   // yerinde sağa / spin right
162      case 'S': manualLeft = 0;  manualRight = 0;  break;   // dur / stop
163      default:
164        if (c >= '0' && c <= '9') manualSpeed = map(c - '0', 0, 9, 100, 240);   // hız kademesi / speed level
165    }
166  }
167}
168
169void setup() {
170  int outs[] = {ENA, IN1, IN2, ENB, IN3, IN4, TRIG};
171  for (int p : outs) pinMode(p, OUTPUT);
172  drive(0, 0);
173  pinMode(ECHO, INPUT);
174  pinMode(IR_LEFT, INPUT_PULLUP);
175  pinMode(IR_RIGHT, INPUT_PULLUP);
176  Serial.begin(9600);
177  bt.begin(9600);                        // HC-05 veri modu hızı / HC-05 data mode baud rate
178  head.attach(SERVO_PIN);
179  head.write(SERVO_CENTER);
180  delay(3000);                           // yere koyman için süre / time to put it on the floor
181}
182
183void loop() {
184  handleBluetooth();
185  if (autoMode) autoStep();
186  else manualStep();
187}

1// L293D shield: ENA–IN4 tanımlarını ve setup()'taki pinMode listesinden bu pinleri sil, drive() fonksiyonunu aşağıdakiyle değiştir
2// L293D shield: delete the ENA–IN4 definitions, remove them from the pinMode list in setup() and replace drive() with the one below
3// Ayrıca / Also: SERVO_PIN = 9 ya da / or 10, SoftwareSerial bt(A4, A5)
4#include <AFMotor.h>                     // Adafruit Motor Shield V1 kütüphanesi / library
5
6AF_DCMotor leftMotor(1);                 // M1 klemensi / M1 terminal
7AF_DCMotor rightMotor(2);                // M2 klemensi / M2 terminal
8
9void drive(int left, int right) {        // her biri -255 … 255 / each -255 … 255
10  leftMotor.setSpeed(min(abs(left), 255));
11  rightMotor.setSpeed(min(abs(right), 255));
12  leftMotor.run(left > 0 ? FORWARD : (left < 0 ? BACKWARD : RELEASE));
13  rightMotor.run(right > 0 ? FORWARD : (right < 0 ? BACKWARD : RELEASE));
14}

1// ESP32 Arduino çekirdeği 3.x / ESP32 Arduino core 3.x
2#include "BluetoothSerial.h"
3
4const int ENA = 25, IN1 = 27, IN2 = 33;   // sol motor / left motor
5const int ENB = 26, IN3 = 32, IN4 = 4;    // sağ motor / right motor
6const int SERVO_PIN = 13;
7const int TRIG = 18, ECHO = 19;           // ECHO 1 kΩ / 2 kΩ bölücüyle / ECHO via a 1 kΩ / 2 kΩ divider
8const int IR_LEFT = 23, IR_RIGHT = 22;    // LOW = engel / LOW = obstacle
9
10const int BACK_CM = 12, STOP_CM = 25, SLOW_CM = 60, GUARD_CM = 15, MAX_CM = 400;
11const int CRUISE = 200, SLOW = 130, TURN = 170;
12const int SERVO_CENTER = 90, SERVO_DIR = 1;
13const float MS_PER_DEG = 4.0;             // kalibre et / calibrate
14
15BluetoothSerial bt;
16bool autoMode = true;
17int manualLeft = 0, manualRight = 0;
18unsigned long lastCmd = 0, lastPing = 0;
19
20void drive(int left, int right) {         // her biri -255 … 255 / each -255 … 255
21  left = constrain(left, -255, 255);
22  right = constrain(right, -255, 255);
23  digitalWrite(IN1, left > 0);  digitalWrite(IN2, left < 0);
24  digitalWrite(IN3, right > 0); digitalWrite(IN4, right < 0);
25  ledcWrite(ENA, abs(left));
26  ledcWrite(ENB, abs(right));
27}
28
29void servoWrite(int angle) {              // 0–180° → 544–2400 µs
30  angle = constrain(angle, 0, 180);
31  uint32_t us = map(angle, 0, 180, 544, 2400);
32  ledcWrite(SERVO_PIN, us * 16384 / 20000);   // 14 bit, 20 ms periyot / 14-bit, 20 ms period
33}
34
35int pingCm() {
36  digitalWrite(TRIG, LOW);  delayMicroseconds(2);
37  digitalWrite(TRIG, HIGH); delayMicroseconds(10);
38  digitalWrite(TRIG, LOW);
39  unsigned long t = pulseIn(ECHO, HIGH, 25000UL);
40  return t == 0 ? MAX_CM : (int)(t / 58);
41}
42
43int distanceCm() {                        // 3 ölçümün ortancası / median of 3 readings
44  int a = pingCm(); delay(60);
45  int b = pingCm(); delay(60);
46  int c = pingCm();
47  return max(min(a, b), min(max(a, b), c));
48}
49
50bool irBlocked(int pin) { return digitalRead(pin) == LOW; }
51
52void turnBy(int deg) {                    // + sola, - sağa / + left, - right
53  if (deg > 0) drive(-TURN, TURN);
54  else drive(TURN, -TURN);
55  delay((unsigned long)(abs(deg) * MS_PER_DEG));
56  drive(0, 0);
57  delay(100);
58}
59
60void avoid() {
61  drive(0, 0);
62  delay(120);
63  int front = distanceCm();
64  bool sides = irBlocked(IR_LEFT) || irBlocked(IR_RIGHT);
65  if (front >= STOP_CM && !sides) return;            // yanlış alarm / false alarm
66  if (front < BACK_CM || sides) {                    // geri çekil / back off
67    drive(-TURN, -TURN);
68    delay(350);
69    drive(0, 0);
70  }
71  const int offsets[] = {70, 35, -35, -70};
72  int bestOffset = 0, bestCm = 0;
73  for (int off : offsets) {
74    servoWrite(SERVO_CENTER + SERVO_DIR * off);
75    delay(300);
76    int cm = distanceCm();
77    if (cm > bestCm) { bestCm = cm; bestOffset = off; }
78  }
79  servoWrite(SERVO_CENTER);
80  delay(200);
81  if (bestCm < STOP_CM + 10) {                       // çıkmaz / dead end
82    drive(-TURN, -TURN);
83    delay(400);
84    turnBy(180);
85  } else {
86    turnBy(bestOffset);
87  }
88}
89
90void setup() {
91  int outs[] = {IN1, IN2, IN3, IN4, TRIG};
92  for (int p : outs) pinMode(p, OUTPUT);
93  pinMode(ECHO, INPUT);
94  pinMode(IR_LEFT, INPUT_PULLUP);
95  pinMode(IR_RIGHT, INPUT_PULLUP);
96  ledcAttach(ENA, 1000, 8);               // motor PWM: 1 kHz, 8 bit
97  ledcAttach(ENB, 1000, 8);
98  ledcAttach(SERVO_PIN, 50, 14);          // servo: 50 Hz, 14 bit
99  drive(0, 0);
100  servoWrite(SERVO_CENTER);
101  bt.begin("BlueGrays-Robot");            // telefonda görünecek ad / name shown on the phone
102  delay(3000);
103}
104
105void loop() {
106  while (bt.available()) {
107    char c = bt.read();
108    lastCmd = millis();
109    if (c == 'A') autoMode = true;                                  // otomatik / auto
110    else if (c == 'M') {                                            // manuel / manual
111      autoMode = false;
112      manualLeft = manualRight = 0;
113      servoWrite(SERVO_CENTER);
114    }
115    else if (!autoMode) {
116      if (c == 'F')      { manualLeft = 200;  manualRight = 200; }  // ileri / forward
117      else if (c == 'B') { manualLeft = -200; manualRight = -200; } // geri / backward
118      else if (c == 'L') { manualLeft = -200; manualRight = 200; }  // sola / left
119      else if (c == 'R') { manualLeft = 200;  manualRight = -200; } // sağa / right
120      else if (c == 'S') { manualLeft = 0;    manualRight = 0; }    // dur / stop
121    }
122  }
123
124  if (millis() - lastPing < 60) return;               // 60 ms'de bir / every 60 ms
125  lastPing = millis();
126  int d = pingCm();
127
128  if (!autoMode) {
129    if (millis() - lastCmd > 600) manualLeft = manualRight = 0;     // komut yok: dur / no command: stop
130    bool forward = manualLeft > 0 && manualRight > 0;
131    if (forward && d < GUARD_CM) drive(0, 0);                       // çarpışma koruması / collision guard
132    else drive(manualLeft, manualRight);
133    return;
134  }
135
136  bool l = irBlocked(IR_LEFT), r = irBlocked(IR_RIGHT);
137  if (d < STOP_CM || (l && r)) avoid();
138  else if (l) { drive(TURN, -TURN); delay(150); }
139  else if (r) { drive(-TURN, TURN); delay(150); }
140  else if (d < SLOW_CM) { int s = map(d, STOP_CM, SLOW_CM, SLOW, CRUISE); drive(s, s); }
141  else drive(CRUISE, CRUISE);
142}

1from machine import Pin, PWM, time_pulse_us
2import time
3
4ena = PWM(Pin(15)); ena.freq(1000)          # sol motor hızı / left motor speed
5enb = PWM(Pin(10)); enb.freq(1000)          # sağ motor hızı / right motor speed
6in1, in2 = Pin(14, Pin.OUT), Pin(13, Pin.OUT)
7in3, in4 = Pin(12, Pin.OUT), Pin(11, Pin.OUT)
8servo = PWM(Pin(16)); servo.freq(50)        # servo sinyali, 50 Hz / servo signal, 50 Hz
9trig = Pin(17, Pin.OUT, value=0)
10echo = Pin(18, Pin.IN)                      # 1 kΩ / 2 kΩ bölücü üzerinden / via a 1 kΩ / 2 kΩ divider
11ir_left = Pin(19, Pin.IN, Pin.PULL_UP)      # 0 = engel / 0 = obstacle
12ir_right = Pin(20, Pin.IN, Pin.PULL_UP)
13
14STOP_CM, BACK_CM = 25, 12
15CRUISE, TURN = 75, 65                       # hız yüzdesi / speed in percent
16MS_PER_DEG = 4                              # kalibre et / calibrate
17SERVO_CENTER = 90                           # öne bakmıyorsa düzelt / adjust if not facing ahead
18
19def drive(left, right):                     # -100 … 100 (%)
20    in1.value(left > 0); in2.value(left < 0)
21    in3.value(right > 0); in4.value(right < 0)
22    ena.duty_u16(int(min(abs(left), 100) * 655))
23    enb.duty_u16(int(min(abs(right), 100) * 655))
24
25def head(offset):                           # + sol, - sağ / + left, - right
26    angle = max(0, min(180, SERVO_CENTER + offset))
27    servo.duty_ns((544 + angle * 1856 // 180) * 1000)   # 0,544–2,4 ms darbe / 0.544–2.4 ms pulse
28
29def ping_cm():
30    trig.value(1); time.sleep_us(10); trig.value(0)     # 10 µs tetik / 10 µs trigger
31    t = time_pulse_us(echo, 1, 25000)
32    return 400 if t < 0 else t // 58                    # negatif = yankı yok / negative = no echo
33
34def distance_cm():                          # 3 ölçümün ortancası / median of 3 readings
35    r = []
36    for _ in range(3):
37        r.append(ping_cm())
38        time.sleep_ms(60)
39    return sorted(r)[1]
40
41def turn_by(deg):                           # + sola, - sağa / + left, - right
42    if deg > 0:
43        drive(-TURN, TURN)
44    else:
45        drive(TURN, -TURN)
46    time.sleep_ms(int(abs(deg) * MS_PER_DEG))
47    drive(0, 0)
48    time.sleep_ms(100)
49
50def avoid():
51    drive(0, 0)
52    time.sleep_ms(120)
53    front = distance_cm()
54    sides = not ir_left.value() or not ir_right.value()
55    if front >= STOP_CM and not sides:
56        return                              # yanlış alarm / false alarm
57    if front < BACK_CM or sides:            # geri çekil / back off
58        drive(-TURN, -TURN); time.sleep_ms(350); drive(0, 0)
59    best_off, best_cm = 0, 0
60    for off in (70, 35, -35, -70):          # tara / scan
61        head(off)
62        time.sleep_ms(300)
63        cm = distance_cm()
64        if cm > best_cm:
65            best_off, best_cm = off, cm
66    head(0)
67    time.sleep_ms(200)
68    if best_cm < STOP_CM + 10:              # çıkmaz / dead end
69        drive(-TURN, -TURN); time.sleep_ms(400)
70        turn_by(180)
71    else:
72        turn_by(best_off)
73
74drive(0, 0)
75head(0)
76time.sleep(3)                               # yere koyman için süre / time to put it down
77while True:
78    d = ping_cm()
79    left_hit, right_hit = not ir_left.value(), not ir_right.value()
80    if d < STOP_CM or (left_hit and right_hit):
81        avoid()
82    elif left_hit:
83        drive(TURN, -TURN); time.sleep_ms(150)   # sağa kaç / dodge right
84    elif right_hit:
85        drive(-TURN, TURN); time.sleep_ms(150)   # sola kaç / dodge left
86    else:
87        drive(CRUISE, CRUISE)
88    time.sleep_ms(60)                        # ölçümler arası / between readings