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Programme Arduino - Pour Commander Les Moteurs:: Servo. Newping

This Arduino program uses an ultrasonic sensor and servo motor to control the movement of a robot with two DC motors. The robot can move forward, backward, and turn using functions to control the motor drivers. When an object is detected within 20 cm, the robot backs up, then turns to find the wider path by comparing distance measurements from the servo-positioned sensor looking left and right.

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Houda Bourimech
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© © All Rights Reserved
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47 views

Programme Arduino - Pour Commander Les Moteurs:: Servo. Newping

This Arduino program uses an ultrasonic sensor and servo motor to control the movement of a robot with two DC motors. The robot can move forward, backward, and turn using functions to control the motor drivers. When an object is detected within 20 cm, the robot backs up, then turns to find the wider path by comparing distance measurements from the servo-positioned sensor looking left and right.

Uploaded by

Houda Bourimech
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Programme Arduino 

- Pour Commander les Moteurs :

#include <Servo.h> //Servo motor library. This is standard library


#include <NewPing.h> //Ultrasonic sensor function library. You must install this
library

Controle de L298N :
const int LeftMotorForward = 7;
const int LeftMotorBackward = 6;
const int RightMotorForward = 4;
const int RightMotorBackward = 5;

Programme Arduino pour Capteur Ultrason :

#define trig_pin A1 //analog input 1


#define echo_pin A2 //analog input 2
#define maximum_distance 200
boolean goesForward = false;
int distance = 100;
NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
Servo servo_motor; //our servo name
void setup(){
pinMode (RightMotorForward, OUTPUT);
pinMode (LeftMotorForward, OUTPUT);
pinMode (LeftMotorBackward, OUTPUT);
pinMode (RightMotorBackward, OUTPUT);

servo_motor.attach(10); //our servo pin

servo_motor.write(115);
delay(2000);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}
void loop(){

int distanceRight = 0;
int distanceLeft = 0;
delay(50);

if (distance <= 20){


moveStop();
delay(300);
moveBackward();
delay(400);
moveStop();
delay(300);
distanceRight = lookRight();
delay(300);
distanceLeft = lookLeft();
delay(300);

if (distance >= distanceLeft){


turnRight();
moveStop();
}
else{
turnLeft();
moveStop();
}
}
else{
moveForward();
}
distance = readPing();
}

int lookRight(){
servo_motor.write(50);
delay(500);
int distance = readPing();
delay(100);
servo_motor.write (115);
return distance;
}
int lookLeft(){
servo_motor.write(170);
delay(500);
int distance = readPing();
delay(100);
servo_motor.write(115);
return distance;
delay(100);
}

int readPing(){
delay(70);
int cm = sonar.ping_cm();
if (cm==0){
cm=250;
}
return cm;
}
void moveStop(){

digitalWrite(RightMotorForward, LOW);
digitalWrite(LeftMotorForward, LOW);
digitalWrite(RightMotorBackward, LOW);
digitalWrite(LeftMotorBackward, LOW);
}

void moveForward(){

if(!goesForward){

goesForward=true;

digitalWrite(LeftMotorForward, HIGH);
digitalWrite(RightMotorForward, HIGH);

digitalWrite(LeftMotorBackward, LOW);
digitalWrite(RightMotorBackward, LOW);
}
}

void moveBackward(){

goesForward=false;

digitalWrite(LeftMotorBackward, HIGH);
digitalWrite(RightMotorBackward, HIGH);

digitalWrite(LeftMotorForward, LOW);
digitalWrite(RightMotorForward, LOW);

void turnRight(){

digitalWrite(LeftMotorForward, HIGH);
digitalWrite(RightMotorBackward, HIGH);

digitalWrite(LeftMotorBackward, LOW);
digitalWrite(RightMotorForward, LOW);

delay(500);

digitalWrite(LeftMotorForward, HIGH);
digitalWrite(RightMotorForward, HIGH);

digitalWrite(LeftMotorBackward, LOW);
digitalWrite(RightMotorBackward, LOW);
}

void turnLeft(){
digitalWrite(LeftMotorBackward, HIGH);
digitalWrite(RightMotorForward, HIGH);
digitalWrite(LeftMotorForward, LOW);
digitalWrite(RightMotorBackward, LOW);
delay(500);

digitalWrite(LeftMotorForward, HIGH);
digitalWrite(RightMotorForward, HIGH);

digitalWrite(LeftMotorBackward, LOW);
digitalWrite(RightMotorBackward, LOW);
}

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