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Obstacle avoiding robot code alone

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vasundharaniranjan7
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6 views

Obstacle avoiding robot code alone

Uploaded by

vasundharaniranjan7
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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/*Obstacle avoiding robot

* https://srituhobby.com

*/

#include <Servo.h>

Servo myservo;

byte servostart = 105;

int distanceleft = 0;

int distanceright = 0;

long t, cm;

//Motor one

#define ENA 9

#define IN1 2

#define IN2 3

//Motor two

#define IN3 4

#define IN4 5

#define ENB 10

//Sensor

#define Trig 6

#define Echo 7

#define Speed 255


void setup() {

myservo.attach(11);

//Motor one

pinMode(ENA, OUTPUT);

pinMode(IN1, OUTPUT);

pinMode(IN2, OUTPUT);

//Motor two

pinMode(ENB, OUTPUT);

pinMode(IN3, OUTPUT);

pinMode(IN4, OUTPUT);

//Sensor

pinMode(Trig, OUTPUT);

pinMode(Echo, INPUT);

Serial.begin(9600);

start();

void loop() {

getdistance();

Serial.println(cm);

int leftdistance = 0;

int rightdistance = 0;

if (cm <= 20) {

Stop();

delay(200);

leftdistance = leftsee();
rightdistance = rightsee();

if (leftdistance >= rightdistance) {

turnleft();

delay(200);

Stop();

} else {

turnright();

delay(200);

Stop();

} else {

forward();

Serial.println("forward");

void forward() {

analogWrite(ENA, Speed);

analogWrite(ENB, Speed);

digitalWrite(IN1, LOW);

digitalWrite(IN2, HIGH);

digitalWrite(IN3, HIGH);

digitalWrite(IN4, LOW);

void turnright() {
analogWrite(ENA, Speed);

analogWrite(ENB, Speed);

digitalWrite(IN1, HIGH);

digitalWrite(IN2, LOW);

digitalWrite(IN3, HIGH);

digitalWrite(IN4, LOW);

void turnleft() {

analogWrite(ENA, Speed);

analogWrite(ENB, Speed);

digitalWrite(IN1, LOW);

digitalWrite(IN2, HIGH);

digitalWrite(IN3, LOW);

digitalWrite(IN4, HIGH);

void Stop() {

analogWrite(ENA, 0);

analogWrite(ENB, 0);

digitalWrite(IN1, LOW);

digitalWrite(IN2, LOW);

digitalWrite(IN3, LOW);

digitalWrite(IN4, LOW);

void start() {

delay(3000);

for (int a = 0; a < 4; a++) {


myservo.write(servostart);

delay(50);

myservo.write(40);

delay(50);

myservo.write(90);

delay(50);

myservo.write(servostart);

int leftsee() {

myservo.write(servostart);

delay(1000);

myservo.write(175);

delay(1000);

distanceleft = getdistance();

myservo.write(servostart);

return distanceleft;

int rightsee() {

myservo.write(servostart);

delay(1000);

myservo.write(5);

delay(1000);

distanceright = getdistance();

myservo.write(servostart);

return distanceright;
}

int getdistance() {

digitalWrite(Trig, LOW);

delayMicroseconds(4);

digitalWrite(Trig, HIGH);

delayMicroseconds(10);

digitalWrite(Trig, LOW);

t = pulseIn(Echo, HIGH);

cm = t / 29 / 2;

return cm;

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