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arduino maze

The document contains Arduino code for a robot that uses color and ultrasonic sensors for navigation. It includes functions for detecting blue objects, measuring distances, and controlling motors for movement. The robot employs a left-hand rule for navigation, adjusting its direction based on obstacles detected in its path.

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abdeallahelalaoui
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
0 views

arduino maze

The document contains Arduino code for a robot that uses color and ultrasonic sensors for navigation. It includes functions for detecting blue objects, measuring distances, and controlling motors for movement. The robot employs a left-hand rule for navigation, adjusting its direction based on obstacles detected in its path.

Uploaded by

abdeallahelalaoui
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Maze code :

#include <Servo.h>
#include <LiquidCrystal_I2C.h>

// Pin definitions for color sensor


#define COLOR_OUT 2
#define S0_PIN 3
#define S1_PIN 4
#define S2_PIN 5
#define S3_PIN 6

// Pin definitions for ultrasonic sensor


#define TRIG_PIN 7
#define ECHO_PIN 8

// Pin definition for servo


#define SERVO_PIN 9

// Pin definitions for L298N motor driver


#define IN1_PIN 10
#define IN2_PIN 11
#define IN3_PIN 12
#define IN4_PIN 13

// Constants
#define TURNING_SPEED 200
#define FORWARD_SPEED 255
#define MIN_DISTANCE 15 // Increased minimum distance for faster navigation

// LCD initialization
LiquidCrystal_I2C lcd(0x27, 16, 2);
Servo myservo;

// Global variables
int distance;
long duration;
int redValue, greenValue, blueValue;
int leftDistance, rightDistance, frontDistance;

void setup() {
// Initialize LCD
lcd.init();
lcd.backlight();
lcd.print("Fast Robot");
lcd.setCursor(0, 1);
lcd.print("Initializing...");

// Setup color sensor pins


pinMode(COLOR_OUT, INPUT);
pinMode(S0_PIN, OUTPUT);
pinMode(S1_PIN, OUTPUT);
pinMode(S2_PIN, OUTPUT);
pinMode(S3_PIN, OUTPUT);

// Set frequency scaling to 20% for color sensor


digitalWrite(S0_PIN, HIGH);
digitalWrite(S1_PIN, LOW);

// Setup ultrasonic sensor pins


pinMode(TRIG_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);

// Setup motor control pins


pinMode(IN1_PIN, OUTPUT);
pinMode(IN2_PIN, OUTPUT);
pinMode(IN3_PIN, OUTPUT);
pinMode(IN4_PIN, OUTPUT);

// Initialize servo and set to center position


myservo.attach(SERVO_PIN);
myservo.write(90);

// Short delay for initialization


delay(1000);

lcd.clear();
}

void loop() {
// Quick check for blue objects
if (isBlueDetected()) {
lcd.clear();
lcd.print("Blue Detected!");
stopMotors();
delay(3000); // Wait 3 seconds before continuing
return;
}

// Get front distance quickly


frontDistance = getDistance();

// Display current distance


lcd.setCursor(0, 0);
lcd.print("Dist: ");
lcd.print(frontDistance);
lcd.print("cm ");

// Fast navigation logic


if (frontDistance > MIN_DISTANCE) {
// Front is clear, move forward
lcd.setCursor(0, 1);
lcd.print("Forward ");
moveForward();
} else {
// Need to check sides
stopMotors();

// Quick check left and right


leftDistance = getLeftDistance();
rightDistance = getRightDistance();

// Left hand rule logic


if (leftDistance > MIN_DISTANCE) {
lcd.setCursor(0, 1);
lcd.print("Turning Left ");
turnLeft();
} else if (rightDistance > MIN_DISTANCE) {
lcd.setCursor(0, 1);
lcd.print("Turning Right");
turnRight();
} else {
lcd.setCursor(0, 1);
lcd.print("Turn Around ");
turnAround();
}
}

// Short delay for stability


delay(50);
}

// Function to check if blue color is detected


bool isBlueDetected() {
// Set filters for blue reading
digitalWrite(S2_PIN, LOW);
digitalWrite(S3_PIN, HIGH);
blueValue = pulseIn(COLOR_OUT, LOW, 10000);

// Set filters for red reading


digitalWrite(S2_PIN, LOW);
digitalWrite(S3_PIN, LOW);
redValue = pulseIn(COLOR_OUT, LOW, 10000);

// Set filters for green reading


digitalWrite(S2_PIN, HIGH);
digitalWrite(S3_PIN, HIGH);
greenValue = pulseIn(COLOR_OUT, LOW, 10000);

// Lower values mean stronger color, so we invert for comparison


// Check if blue is the dominant color
return (blueValue < redValue && blueValue < greenValue && blueValue < 50);
}

// Function to get distance from ultrasonic sensor


int getDistance() {
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);

duration = pulseIn(ECHO_PIN, HIGH, 20000); // 20ms timeout for faster response

// Check if reading was successful


if (duration == 0) {
return 100; // Return a large value if timeout occurred
}

distance = duration * 0.034 / 2;


return distance;
}

// Function to get left distance


int getLeftDistance() {
myservo.write(170); // Turn servo left (not full 180 for speed)
delay(150); // Reduced delay for faster operation
int dist = getDistance();
myservo.write(90); // Return to center
return dist;
}
// Function to get right distance
int getRightDistance() {
myservo.write(10); // Turn servo right (not full 0 for speed)
delay(150); // Reduced delay for faster operation
int dist = getDistance();
myservo.write(90); // Return to center
return dist;
}

// Function to move forward


void moveForward() {
// Right motor forward
digitalWrite(IN1_PIN, HIGH);
digitalWrite(IN2_PIN, LOW);

// Left motor forward


digitalWrite(IN3_PIN, HIGH);
digitalWrite(IN4_PIN, LOW);
}

// Function to stop motors


void stopMotors() {
digitalWrite(IN1_PIN, LOW);
digitalWrite(IN2_PIN, LOW);
digitalWrite(IN3_PIN, LOW);
digitalWrite(IN4_PIN, LOW);
}

// Function to turn left


void turnLeft() {
// Right motor forward
digitalWrite(IN1_PIN, HIGH);
digitalWrite(IN2_PIN, LOW);

// Left motor stop or reverse slightly


digitalWrite(IN3_PIN, LOW);
digitalWrite(IN4_PIN, HIGH);

delay(300); // Reduced turning time


moveForward(); // Continue moving forward after turn
}

// Function to turn right


void turnRight() {
// Right motor stop or reverse slightly
digitalWrite(IN1_PIN, LOW);
digitalWrite(IN2_PIN, HIGH);

// Left motor forward


digitalWrite(IN3_PIN, HIGH);
digitalWrite(IN4_PIN, LOW);

delay(300); // Reduced turning time


moveForward(); // Continue moving forward after turn
}

// Function to turn around


void turnAround() {
// Right motor forward
digitalWrite(IN1_PIN, HIGH);
digitalWrite(IN2_PIN, LOW);

// Left motor backward


digitalWrite(IN3_PIN, LOW);
digitalWrite(IN4_PIN, HIGH);

delay(600); // Reduced turn-around time


moveForward(); // Continue moving forward after turn
}

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