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Program Code For Obstacles Avoiding Robot.

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bnandeppagoudar
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5 views

Program Code For Obstacles Avoiding Robot.

Thank you

Uploaded by

bnandeppagoudar
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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// Research Tamilan

//Program code for Obstacle-Avoiding-Robot

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


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

//our L298N control pins


const int enablePinA = 5;
const int LeftMotorForward = 10;
const int LeftMotorBackward = 11;
const int RightMotorForward = 9;
const int RightMotorBackward = 8;
const int enablePinB = 6;

//sensor pins
#define trig_pin A5 //analog input 5
#define echo_pin A4 //analog input 4

#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(enablePinA, OUTPUT);
pinMode(RightMotorForward, OUTPUT);
pinMode(LeftMotorForward, OUTPUT);
pinMode(LeftMotorBackward, OUTPUT);
pinMode(RightMotorBackward, OUTPUT);
pinMode(enablePinB, OUTPUT);

servo_motor.attach(3); //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 speed = 150; //varying the motor by this value(0-255)

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

if (distance <= 40){


moveStop();
delay(100);
moveBackward();
delay(200);
moveStop();
delay(300);
distanceRight = lookRight();
delay(400);
distanceLeft = lookLeft();
delay(400);

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(){
int speed = 150;

if(!goesForward){

goesForward=true;

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

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

analogWrite(enablePinA, speed);
analogWrite(enablePinB, speed);
}
}

void moveBackward(){
int speed = 180;

goesForward=false;

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

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

analogWrite(enablePinA, speed);
analogWrite(enablePinB, speed);

void turnRight(){
int speed = 150;

digitalWrite(LeftMotorForward, HIGH);
digitalWrite(RightMotorBackward, HIGH);
delay(5);

digitalWrite(LeftMotorBackward, LOW);
digitalWrite(RightMotorForward, LOW);
analogWrite(enablePinA, speed);
analogWrite(enablePinB, speed);

delay(250); //By varying this delay value rotate the robot

digitalWrite(LeftMotorForward, HIGH);
digitalWrite(RightMotorForward, HIGH);
delay(5);

digitalWrite(LeftMotorBackward, LOW);
digitalWrite(RightMotorBackward, LOW);
analogWrite(enablePinA, speed);
analogWrite(enablePinB, speed);

void turnLeft(){
int speed = 150;

digitalWrite(LeftMotorBackward, HIGH);
digitalWrite(RightMotorForward, HIGH);
delay(5);

digitalWrite(LeftMotorForward, LOW);
digitalWrite(RightMotorBackward, LOW);

analogWrite(enablePinA, speed);
analogWrite(enablePinB, speed);

delay(250); //By varying this delay value rotate the robot

digitalWrite(LeftMotorForward, HIGH);
digitalWrite(RightMotorForward, HIGH);
delay(5);

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

analogWrite(enablePinA, speed);
analogWrite(enablePinB, speed);
}

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