The video of a robot with ultrasound sensor that avoids obstacles.
The code was based on a project from the website arduino.cc. This robot is an improved version of the autonomous vehicle from part 6 of Arduino tutorial.
The code below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 | #include <NewPing.h>#include <Servo.h>#define trigPin 9#define echoPin 10Servo servo;int posservo;int IN1=4;int IN2=5;int IN3=7;int IN4=2;int ENA=3;int ENB=6;#define max_distance 200boolean goesForward = false;int distance;NewPing sensor(trigPin,echoPin,max_distance); void setup() { servo.attach(8); pinMode(IN1,OUTPUT); pinMode(IN2,OUTPUT); pinMode(IN3,OUTPUT); pinMode(IN4,OUTPUT); pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); pinMode(echoPin,INPUT); pinMode(trigPin,OUTPUT); Serial.begin(9600); servo.write(90); delay(150);}void loop(){ analogWrite(ENA,210); analogWrite(ENB,190); int distanceR=0; int distanceL=0; distance = readPing(); Serial.println(distance); if(distance <= 20){//Verify if there is obstacle in front of. moveStop(); delay(300); moveBackward(); delay(400); moveStop(); delay(300); distanceR = lookRight(); delay(300); distanceL = lookLeft(); delay(300); if (distanceR >= distanceL){ turnRight(); moveStop(); } else{ turnLeft(); moveStop(); } }else{ moveForward(); }}int lookRight(){ servo.write(0); delay(150); int distance = readPing(); delay(100); servo.write(90); return distance;}int lookLeft(){ servo.write(180); delay(150); int distance = readPing(); delay(100); servo.write(90); return distance; delay(100);}int readPing(){ delay(70); int cm = sensor.ping_cm(); if (cm==0){ cm=250; } return cm;}void moveStop(){ digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW);}void turnRight(){ digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW); delay(600); //Value must change depending on battery's charge. digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW);}void turnLeft(){ digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); digitalWrite(IN3,LOW); digitalWrite(IN4,HIGH); delay(600); //Value must change depending on battery's charge. digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW);}void moveForward(){ if(!goesForward){ goesForward=true; digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW); }}void moveBackward(){ goesForward=false; digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW); digitalWrite(IN3,LOW); digitalWrite(IN4,HIGH);} |
