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Line Follower and Obstacle Avoiding Robot - Ino

The document defines pin assignments for sensors, motors, and a servo motor used in a line following and obstacle avoiding robot. It initializes the pins and defines functions for moving the robot forward, backward, turning, and stopping. It uses infrared sensors to follow a line, an ultrasonic sensor to detect obstacles, and a servo motor to check distances on the left and right sides before maneuvering around obstacles.

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akuladamodhar20
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58 views4 pages

Line Follower and Obstacle Avoiding Robot - Ino

The document defines pin assignments for sensors, motors, and a servo motor used in a line following and obstacle avoiding robot. It initializes the pins and defines functions for moving the robot forward, backward, turning, and stopping. It uses infrared sensors to follow a line, an ultrasonic sensor to detect obstacles, and a servo motor to check distances on the left and right sides before maneuvering around obstacles.

Uploaded by

akuladamodhar20
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as TXT, PDF, TXT or read online on Scribd
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#define enA 10//Enable1 L298 Pin enA

#define in1 9 //Motor1 L298 Pin in1


#define in2 8 //Motor1 L298 Pin in1
#define in3 7 //Motor2 L298 Pin in1
#define in4 6 //Motor2 L298 Pin in1
#define enB 5 //Enable2 L298 Pin enB

#define L_S A0 //ir sensor Left


#define R_S A1 //ir sensor Right

#define echo A2 //Echo pin


#define trigger A3 //Trigger pin

#define servo A5

int Set=15;
int distance_L, distance_F, distance_R;

void setup(){ // put your setup code here, to run once

Serial.begin(9600); // start serial communication at 9600bps

pinMode(R_S, INPUT); // declare if sensor as input


pinMode(L_S, INPUT); // declare ir sensor as input

pinMode(echo, INPUT );// declare ultrasonic sensor Echo pin as input


pinMode(trigger, OUTPUT); // declare ultrasonic sensor Trigger pin as Output

pinMode(enA, OUTPUT); // declare as output for L298 Pin enA


pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB

analogWrite(enA, 200); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1
Speed
analogWrite(enB, 200); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2
Speed

pinMode(servo, OUTPUT);

for (int angle = 70; angle <= 140; angle += 5) {


servoPulse(servo, angle); }
for (int angle = 140; angle >= 0; angle -= 5) {
servoPulse(servo, angle); }

for (int angle = 0; angle <= 70; angle += 5) {


servoPulse(servo, angle); }

distance_F = Ultrasonic_read();

delay(500);
}

void loop(){
//==============================================
// Line Follower and Obstacle Avoiding
//==============================================

distance_F = Ultrasonic_read();
Serial.print("D F=");Serial.println(distance_F);

//if Right Sensor and Left Sensor are at White color then it will call forword
function
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){
if(distance_F > Set){forword();}
else{Check_side();}
}

//if Right Sensor is Black and Left Sensor is White then it will call turn Right
function
else if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();}

//if Right Sensor is White and Left Sensor is Black then it will call turn Left
function
else if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();}

delay(10);
}

void servoPulse (int pin, int angle){


int pwm = (angle*11) + 500; // Convert angle to microseconds
digitalWrite(pin, HIGH);
delayMicroseconds(pwm);
digitalWrite(pin, LOW);
delay(50); // Refresh cycle of servo
}

//**********************Ultrasonic_read****************************
long Ultrasonic_read(){
digitalWrite(trigger, LOW);
delayMicroseconds(2);
digitalWrite(trigger, HIGH);
delayMicroseconds(10);
long time = pulseIn (echo, HIGH);
return time / 29 / 2;
}

void compareDistance(){
if(distance_L > distance_R){
turnLeft();
delay(500);
forword();
delay(600);
turnRight();
delay(500);
forword();
delay(600);
turnRight();
delay(400);
}
else{
turnRight();
delay(500);
forword();
delay(600);
turnLeft();
delay(500);
forword();
delay(600);
turnLeft();
delay(400);
}
}

void Check_side(){
Stop();
delay(100);
for (int angle = 70; angle <= 140; angle += 5) {
servoPulse(servo, angle); }
delay(300);
distance_R = Ultrasonic_read();
Serial.print("D R=");Serial.println(distance_R);
delay(100);
for (int angle = 140; angle >= 0; angle -= 5) {
servoPulse(servo, angle); }
delay(500);
distance_L = Ultrasonic_read();
Serial.print("D L=");Serial.println(distance_L);
delay(100);
for (int angle = 0; angle <= 70; angle += 5) {
servoPulse(servo, angle); }
delay(300);
compareDistance();
}

void forword(){ //forword


digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, HIGH); //Left Motor forword Pin
digitalWrite(in3, HIGH); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}

void backword(){ //backword


digitalWrite(in1, HIGH); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, HIGH); //Right Motor backword Pin
}

void turnRight(){ //turnRight


digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, HIGH); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, HIGH); //Right Motor backword Pin
}

void turnLeft(){ //turnLeft


digitalWrite(in1, HIGH); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, HIGH); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}

void Stop(){ //stop


digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}

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