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The document contains an Arduino code for controlling a robot using a servo motor and an ultrasonic sensor. It defines motor control pins, sensor pins, and includes functions for moving forward, backward, turning, and stopping based on distance measurements. The robot uses the ultrasonic sensor to navigate and avoid obstacles by adjusting its direction accordingly.

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pritizamkade
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16 views

CODE (1)

The document contains an Arduino code for controlling a robot using a servo motor and an ultrasonic sensor. It defines motor control pins, sensor pins, and includes functions for moving forward, backward, turning, and stopping based on distance measurements. The robot uses the ultrasonic sensor to navigate and avoid obstacles by adjusting its direction accordingly.

Uploaded by

pritizamkade
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> //standard library for the servo


#include <NewPing.h> //for the Ultrasonic sensor function library.

//L298N motor control pins


const int LeftMotorForward = 6;
const int LeftMotorBackward = 7;
const int RightMotorForward = 5;
const int RightMotorBackward = 4;

//sensor pins
#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;

void setup(){

pinMode(RightMotorForward, OUTPUT);
pinMode(LeftMotorForward, OUTPUT);
pinMode(LeftMotorBackward, OUTPUT);
pinMode(RightMotorBackward, OUTPUT);

servo_motor.attach(9); //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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