[code]
#include<Servo.h>
int pinLB=12;
int pinLF=3;
int pinRB=13;
int pinRF=11;
int inputPin=4;
int outputPin=5;
int Fspeedd=0;
int Rspeedd=0;
int Lspeedd=0;
int directionn=0;
Servo myservo;
int delay_time=250;
int Fgo=8;
int Rgo=6;
int Lgo=4;
int Bgo=2;
void setup() {
Serial.begin(9600);
pinMode(pinLB,OUTPUT);
pinMode(pinLF,OUTPUT);
pinMode(pinRB,OUTPUT);
pinMode(pinRF,OUTPUT);
pinMode(inputPin,INPUT);
pinMode(outputPin,INPUT);
pinMode(outputPin,OUTPUT);
myservo.attach(9);
void advance(){
  digitalWrite(pinLB,LOW);
  digitalWrite(pinRB,LOW);
  analogWrite(pinRF,255);
  analogWrite(pinLF,255);
 }
 void stopp(){
   digitalWrite(pinLB,HIGH);
    digitalWrite(pinRB,HIGH);
    analogWrite(pinLF,0);
  analogWrite(pinRF,0);
 }
 void rigth(){

 digitalWrite(pinLB,HIGH);
   digitalWrite(pinRB,LOW);
  analogWrite(pinLF,255);
   analogWrite(pinRF,255);  
 }
 void left(){
   digitalWrite(pinLB,LOW);
    digitalWrite(pinRB,HIGH);
    analogWrite(pinLF,255);
  analogWrite(pinRF,255);
 }
{
void back(){
   digitalWrite(pinLB,HIGH);
    digitalWrite(pinRB,HIGH);
    analogWrite(pinLF,255);
  analogWrite(pinRF,255);
 }
 void detection(){
  int delay_time=250;
  ask_pin_F();
  if (Fspeedd<10){
    stopp();
    delay(100);
    back();
    delay(200);
  }
  if(Fspeedd<25)
  {
    stopp();
    delay(100);
    ask_pin_l();
    delay(delay_time);
    ask_pin_R();
    delay(delay_time);
  }
 }
 if(Lspeedd>Rspeedd)  {directionn=Lgo;}
if(Lspeedd<=Rspeedd) {directionn=Rgo;}
if(Lspeedd<10&&Rspeed<10){directionn=Bgo; }
else { directionn=Fgo; }
}
void ask_pin_f()
{
  myservo.write(90);
  digitalWrite(outputPin,LOW);
  delayMicroseconds(2);
  digitalWrite(outputPin,HIGH);
  delayMicroseconds(10);
        digitalWrite(outputPin,LOW);
        float Fdistance=pulseln(inputPin,HIGH);
        Fdistance=Fdistance/5.8/10;
        Fspeedd=Fdistance;
 Serial.print("Fspeedd=");
 Serial.print(Fspeedd);
 Serial.println(" cm");
}
void ask_pin_L()
{
  myservo.write(5);
  delay(delay_time):
  digitalWrite(outputPin,LOW);
  delayMicroseconds(2);
  digitalWrite(outputPin,HIGH);
  delayMicroseconds(10);
  digitalWrite(outputPin,LOW);
  float Ldistance=pulseln(inputPin,HIGH);
  Ldistance=Ldistance/5.8/10;
  Lspeedd=Ldistance;
Serial.print("Lspeedd=");
Serial.print(Lspeedd);
  Serial.print(" cm ");
}
void ask_pin_R()
{
  myservo.write(177);
  delay(delay_time);

  digitalWrite(outputPin,LOW);
  delayMicroseconds(2);
  digitalWrite(outputPin,HIGH);
  delayMicroseconds(10);
  digitalWrite(outputPin,LOW);
  float Rdistance=pulseln(inputPin,HIGH);
  Rdistance=Rdistance/5.8/10;
  Rspeedd=Rdistance;
  Serial.print("Rspeedd=");
  Serial.print(Rspeedd);
     Serial.println(" cm");
}
void loop()
{
  myservo.write(90);
  detection();
if(directionn==2)
{
  back();
  delay(800);
  left();
  delay(200);
}
if(directionn==6)
{ back();
  delay(100);
  right();
  delay(600);
}
if(directionn==4)
{ back();
  delay(600);
  left();
  delay(600);
}
if(directionn==8)
{ advance();
  delay(100);
}}


}
[/code]

Bonjour,

Ce sujet n'est pas conforme à la charte d'usage des forums OC. 

Pour la forme : il faut observer un minimum de règles de civisme (une formule de salutation pour commencer et des remerciements par avance aux personnes qui voudront bien t'aider).

Pour le fond : il faut décrire son problème de manière pratique, et donner les éléments de contexte qui permettront à la communauté de t'aider.

Je ferme ce sujet et te laisse ouvrir un nouveau en ayant pris ces remarques en compte.

Cordialement.