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Build Obstacle Avoider Robot-Advanced Algorithm (1) .Ino

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91 views2 pages

Build Obstacle Avoider Robot-Advanced Algorithm (1) .Ino

Uploaded by

rroji466
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <Servo.

h>
Servo Myservo;
#define trigPin 9 // Trig Pin Of HC-SR04
#define echoPin 8 // Echo Pin Of HC-SR04
#define MLa 4 //left motor 1st pin
#define MLb 5 //left motor 2nd pin
#define MRa 6 //right motor 1st pin
#define MRb 7 //right motor 2nd pin
long duration, distance;

void setup() {
Serial.begin(9600);
pinMode(MLa, OUTPUT); // Set Motor Pins As O/P
pinMode(MLb, OUTPUT);
pinMode(MRa, OUTPUT);
pinMode(MRb, OUTPUT);
pinMode(trigPin, OUTPUT); // Set Trig Pin As O/P To Transmit Waves
pinMode(echoPin, INPUT); //Set Echo Pin As I/P To Receive Reflected Waves
Myservo.attach(10);
}
void loop()
{
Serial.begin(9600);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // Transmit Waves For 10us
delayMicroseconds(10);
duration = pulseIn(echoPin, HIGH); // Receive Reflected Waves
distance = duration / 58.2; // Get Distance
Serial.println(distance);
delay(10);
if (distance > 25) // Condition For Absence Of Obstacle
{
Myservo.write(90);
digitalWrite(MRb, HIGH); // Move Forward
digitalWrite(MRa, LOW);
digitalWrite(MLb, HIGH);
digitalWrite(MLa, LOW);
}
else if ((distance < 10)&&(distance > 0)) // Condition For Presence Of
Obstacle
{
digitalWrite(MRb, LOW); //Stop
digitalWrite(MRa, LOW);
digitalWrite(MLb, LOW);
digitalWrite(MLa, LOW);
delay(100);
Myservo.write(0);
delay(500);
Serial.begin(9600);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // Transmit Waves For 10us
delayMicroseconds(10);
duration = pulseIn(echoPin, HIGH); // Receive Reflected Waves
distance = duration / 58.2; // Get Distance
Serial.println(distance);
delay(10);
if (distance > 25)
{
Myservo.write(90);
delay(500);
digitalWrite(MRb, LOW); // Move Backward
digitalWrite(MRa, HIGH);
digitalWrite(MLb, LOW);
digitalWrite(MLa, HIGH);
delay(100);
digitalWrite(MRb, LOW); //Stop
digitalWrite(MRa, LOW);
digitalWrite(MLb, LOW);
digitalWrite(MLa, LOW);
delay(100);
digitalWrite(MRb, LOW); // Move Left
digitalWrite(MRa, LOW);
digitalWrite(MLa, HIGH);
digitalWrite(MLb, LOW);
delay(1500);
}
else if ((distance < 20)&&(distance > 0))
{
Myservo.write(180);
delay(500);
Serial.begin(9600);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // Transmit Waves For 10us
delayMicroseconds(10);
duration = pulseIn(echoPin, HIGH); // Receive Reflected Waves
distance = duration / 58.2; // Get Distance
Serial.println(distance);
delay(10);
if (distance > 25)
Myservo.write(90);
delay(500);
digitalWrite(MRb, LOW); // Move Backward
digitalWrite(MRa, HIGH);
digitalWrite(MLb, LOW);
digitalWrite(MLa, HIGH);
delay(100);
digitalWrite(MRb, LOW); //Stop
digitalWrite(MRa, LOW);
digitalWrite(MLb, LOW);
digitalWrite(MLa, LOW);
delay(100);
digitalWrite(MRb, LOW); // Move Right
digitalWrite(MRa, HIGH);
digitalWrite(MLa, LOW);
digitalWrite(MLb, LOW);
delay(1500);
}
}
}

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