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Include the Library Code

This document contains Arduino code for controlling a robot using ultrasonic and infrared sensors. It defines motor controls for movement based on sensor readings, allowing the robot to move forward, turn left, turn right, or stop depending on the detected distance and sensor values. The setup includes initializing the servo and motors, reading sensor values, and executing movement commands in a continuous loop.

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prathamchamoli15
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2 views3 pages

Include the Library Code

This document contains Arduino code for controlling a robot using ultrasonic and infrared sensors. It defines motor controls for movement based on sensor readings, allowing the robot to move forward, turn left, turn right, or stop depending on the detected distance and sensor values. The setup includes initializing the servo and motors, reading sensor values, and executing movement commands in a continuous loop.

Uploaded by

prathamchamoli15
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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//include the library code:

#include<NewPing.h>
#include<Servo.h>
#include<AFMotor.h>

#define RIGHT A2 // Right IR sensor connected to analog pin A2 of Arduino


Uno:
#define LEFT A3 // Left IR sensor connected to analog pin A3 of Arduino
Uno:
#define TRIGGER_PIN A1 // Trigger pin connected to analog pin A1 of Arduino
Uno:
#define ECHO_PIN A0 // Echo pin connected to analog pin A0 of Arduino Uno:
#define MAX_DISTANCE 200 // Maximum ping distance:

unsigned int distance = 0; //Variable to store ultrasonic sensor distance:


unsigned int Right_Value = 0; //Variable to store Right IR sensor value:
unsigned int Left_Value = 0; //Variable to store Left IR sensor value:

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); //NewPing setup of pins and


maximum distance:

//create motor objects


AF_DCMotor Motor1(1,MOTOR12_1KHZ);
AF_DCMotor Motor2(2,MOTOR12_1KHZ);
AF_DCMotor Motor3(3,MOTOR34_1KHZ);
AF_DCMotor Motor4(4,MOTOR34_1KHZ);

Servo myservo; //create servo object to control the servo:


int pos=0; //variable to store the servo position:

void setup() { // the setup function runs only once when power on the board or reset
the board:

Serial.begin(9600); //initailize serial communication at 9600 bits per second:


myservo.attach(10); // servo attached to pin 10 of Arduino UNO
{
for(pos = 90; pos <= 180; pos += 1){ // goes from 90 degrees to 180 degrees:
myservo.write(pos); //tell servo to move according to the value of
'pos' variable:
delay(15); //wait 15ms for the servo to reach the
position:
}
for(pos = 180; pos >= 0; pos-= 1) { // goes from 180 degrees to 0 degrees:
myservo.write(pos); //tell servo to move according to the value of
'pos' variable:
delay(15); //wait 15ms for the servo to reach the
position:
}
for(pos = 0; pos<=90; pos += 1) { //goes from 180 degrees to 0 degrees:
myservo.write(pos); //tell servo to move according to the value of
'pos' variable:
delay(15); //wait 15ms for the servo to reach the
position:
}
}
pinMode(RIGHT, INPUT); //set analog pin RIGHT as an input:
pinMode(LEFT, INPUT); //set analog pin RIGHT as an input:
}
// the lope function runs forever
void loop() {

delay(50); //wait 50ms between pings:


distance = sonar.ping_cm(); //send ping, get distance in cm and
store it in 'distance' variable:
Serial.print("distance");
Serial.println(distance); // print the distance in serial
monitor:

Right_Value = digitalRead(RIGHT); // read the value from Right IR


sensor:
Left_Value = digitalRead(LEFT); // read the value from Left IR
sensor:

Serial.print("RIGHT");
Serial.println(Right_Value); // print the right IR sensor value
in serial monitor:
Serial.print("LEFT");
Serial.println(Left_Value); //print the left IR sensor value in
serial monitor:

if((distance > 1) && (distance < 15)){ //check wheather the ultrasonic
sensor's value stays between 1 to 15.
//If the condition is 'true' then
the statement below will execute:
//Move Forward:
Motor1.setSpeed(130); //define motor1 speed:
Motor1.run(FORWARD); //rotate motor1 clockwise:
Motor2.setSpeed(130); //define motor2 speed:
Motor2.run(FORWARD); //rotate motor2 clockwise:
Motor3.setSpeed(130); //define motor3 speed:
Motor3.run(FORWARD); //rotate motor3 clockwise:
Motor4.setSpeed(130); //define motor4 speed:
Motor4.run(FORWARD); //rotate motor4 clockwise:

}else if((Right_Value==0) && (Left_Value==1)) { //If the condition is 'true' then


the statement below will execute:

//Turn Left
Motor1.setSpeed(150); //define motor1 speed:
Motor1.run(FORWARD); //rotate motor1 cloclwise:
Motor2.setSpeed(150); //define motor2 speed:
Motor2.run(FORWARD); //rotate motor2 clockwise:
Motor3.setSpeed(150); //define motor3 speed:
Motor3.run(BACKWARD); //rotate motor3 anticlockwise:
Motor4.setSpeed(150); //define motor4 speed:
Motor4.run(BACKWARD); //rotate motor4 anticlockwise:
delay(150);

}else if((Right_Value==1)&&(Left_Value==0)) { //If the condition is 'true' then


the statement below will execute:

//Turn Right
Motor1.setSpeed(150); //define motor1 speed:
Motor1.run(BACKWARD); //rotate motor1 anticlockwise:
Motor2.setSpeed(150); //define motor2 speed:
Motor2.run(BACKWARD); //rotate motor2 anticlockwise:
Motor3.setSpeed(150); //define motor3 speed:
Motor3.run(FORWARD); //rotate motor3 clockwise:
Motor4.setSpeed(150); //define motor4 speed:
Motor4.run(FORWARD); //rotate motor4 clockwise:
delay(150);

}else if(distance > 15) { //If the condition is 'true' then


the statement below will execute:

//Stop
Motor1.setSpeed(0); //define motor1 speed:
Motor1.run(RELEASE); //stop motor1:
Motor2.setSpeed(0); //define motor2 speed:
Motor2.run(RELEASE); //stop motor2:
Motor3.setSpeed(0); //define motor3 speed:
Motor3.run(RELEASE); //stop motor3:
Motor4.setSpeed(0); //define motor4 speed:
Motor4.run(RELEASE); //stop motor4:
}
}

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