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    Arduino Obstacle Avoiding Robot Code

    Uploaded by

    Rushank Gupta
    The document describes an Arduino code for an obstacle avoiding car. It uses an ultrasonic sensor to measure distance and four DC motors controlled by an motor shield. It can move forward and backward, turn left and right, and avoid obstacles by backing up, scanning left and right with a servo motor, and picking the clearest direction to proceed. The car slows and stops when obstacles are within 25 cm and maneuvers around them.

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    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd

    Arduino Obstacle Avoiding Robot Code

    Uploaded by

    Rushank Gupta
    110 views4 pages
    The document describes an Arduino code for an obstacle avoiding car. It uses an ultrasonic sensor to measure distance and four DC motors controlled by an motor shield. It can move forward and backward, turn left and right, and avoid obstacles by backing up, scanning left and right with a servo motor, and picking the clearest direction to proceed. The car slows and stops when obstacles are within 25 cm and maneuvers around them.

    Original Title

    arduino_obstacle_avoiding_robot_code

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    © © All Rights Reserved

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    The document describes an Arduino code for an obstacle avoiding car. It uses an ultrasonic sensor to measure distance and four DC motors controlled by an motor shield. It can move forward and backward, turn left and right, and avoid obstacles by backing up, scanning left and right with a servo motor, and picking the clearest direction to proceed. The car slows and stops when obstacles are within 25 cm and maneuvers around them.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    110 views4 pages

    Arduino Obstacle Avoiding Robot Code

    Uploaded by

    Rushank Gupta
    The document describes an Arduino code for an obstacle avoiding car. It uses an ultrasonic sensor to measure distance and four DC motors controlled by an motor shield. It can move forward and backward, turn left and right, and avoid obstacles by backing up, scanning left and right with a servo motor, and picking the clearest direction to proceed. The car slows and stops when obstacles are within 25 cm and maneuvers around them.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    of 4

    //ARDUINO OBSTACLE AVOIDING CAR Video - https://youtu.

    be/h-B42_HXL00//
    // Before uploading the code you have to install the necessary library//
    //AFMotor Library https://learn.adafruit.com/adafruit-motor-shield/library-
    install //
    //NewPing Library https://github.com/eliteio/Arduino_New_Ping.git //
    //Servo Library https://github.com/arduino-libraries/Servo.git //

    #include <AFMotor.h>
    #include <NewPing.h>
    #include <Servo.h>

    #define TRIG_PIN A0
    #define ECHO_PIN A1
    #define MAX_DISTANCE 100
    #define MAX_SPEED 150 // sets speed of DC motors
    #define MAX_SPEED_OFFSET 20

    NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);

    AF_DCMotor motor1(1, MOTOR12_64KHZ);


    AF_DCMotor motor2(2, MOTOR12_64KHZ);
    AF_DCMotor motor3(3, MOTOR34_64KHZ);
    AF_DCMotor motor4(4, MOTOR34_64KHZ);
    Servo myservo;

    boolean goesForward=false;
    int distance = 100;
    int speedSet = 0;

    void setup() {

    myservo.attach(10);
    myservo.write(115);
    delay(2000);
    distance = readPing();
    delay(100);
    distance = readPing();
    delay(100);
    distance = readPing();
    delay(100);
    distance = readPing();
    delay(100);
    }

    void loop() {
    int distanceR = 0;
    int distanceL = 0;
    delay(40);

    if(distance<=25)
    {
    moveStop();
    delay(100);
    moveBackward();
    delay(200);
    moveStop();
    delay(200);
    distanceR = lookRight();
    delay(200);
    distanceL = lookLeft();
    delay(200);

    if(distanceR>=distanceL)
    {
    turnRight();
    moveStop();
    }

    else

    {
    turnLeft();
    moveStop();
    }
    }

    else
    {
    moveForward();
    }
    distance = readPing();
    }

    int lookRight()
    {
    myservo.write(50);
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(115);
    return distance;
    }

    int lookLeft()
    {
    myservo.write(170);
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(115);
    return distance;
    delay(100);
    }

    int readPing() {
    delay(100);
    int cm = sonar.ping_cm();
    if(cm==0)
    {
    cm = 250;
    }
    return cm;
    }

    void moveStop() {
    motor1.run(RELEASE);
    motor2.run(RELEASE);
    motor3.run(RELEASE);
    motor4.run(RELEASE);
    }

    void moveForward() {

    if(!goesForward)
    {
    goesForward=true;
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    motor3.run(FORWARD);
    motor4.run(FORWARD);
    for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed
    up to avoid loading down the batteries too quickly
    {
    motor1.setSpeed(speedSet);
    motor2.setSpeed(speedSet);
    motor3.setSpeed(speedSet);
    motor4.setSpeed(speedSet);
    delay(5);
    }
    }
    }

    void moveBackward() {
    goesForward=false;
    motor1.run(BACKWARD);
    motor2.run(BACKWARD);
    motor3.run(BACKWARD);
    motor4.run(BACKWARD);
    for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed
    up to avoid loading down the batteries too quickly
    {
    motor1.setSpeed(speedSet);
    motor2.setSpeed(speedSet);
    motor3.setSpeed(speedSet);
    motor4.setSpeed(speedSet);
    delay(5);
    }
    }

    void turnRight() {
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    motor3.run(BACKWARD);
    motor4.run(BACKWARD);
    delay(500);
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    motor3.run(FORWARD);
    motor4.run(FORWARD);
    }

    void turnLeft() {
    motor1.run(BACKWARD);
    motor2.run(BACKWARD);
    motor3.run(FORWARD);
    motor4.run(FORWARD);
    delay(500);
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    motor3.run(FORWARD);
    motor4.run(FORWARD);
    }

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