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Code Robot

codigo robotico

Uploaded by

angeldanielpintogarcia1
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© © All Rights Reserved
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0 views

Code Robot

codigo robotico

Uploaded by

angeldanielpintogarcia1
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 5

#include <Servo.h> //Servo motor library.

This is standard library

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

//our L298N control pins

const int LeftMotorForward =7;

const int LeftMotorBackward =6;

const int RightMotorForward =4;

const int RightMotorBackward =5;

//senor pins

#define trig_pin A0 //analog input 1

#define echo_pin A1 //analog input 2

#define maximum_distance 200

boolean goesForward = false;

int distance = 100;

NewPing sonar(trig_pin, echo_pin, maximum_distance); //senor 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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