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CODE robot detect obstacle

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Youssef Oubelaid
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15 views

CODE robot detect obstacle

Uploaded by

Youssef Oubelaid
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
You are on page 1/ 3

https://marobotic.

com/2023/11/12/obstacle-avoiding-robot-using-arduino-uno-and-l293d-with-hc-
sr04-sensor/

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

#define echopin A4 // echo pin


#define trigpin A5 // Trigger pin

Servo myservo;

const int MOTOR_1 = 1;


const int MOTOR_2 = 2;
const int MOTOR_3 = 3;
const int MOTOR_4 = 4;

AF_DCMotor motor1(MOTOR_1, MOTOR12_64KHZ); // create motor


object, 64KHz pwm
AF_DCMotor motor2(MOTOR_2, MOTOR12_64KHZ); // create motor
object, 64KHz pwm
AF_DCMotor motor3(MOTOR_3, MOTOR12_64KHZ); // create motor
object, 64KHz pwm
AF_DCMotor motor4(MOTOR_4, MOTOR12_64KHZ); // create motor
object, 64KHz pwm
//
=================================================================
==============
// Initialization
//
=================================================================
==============

int distance_L, distance_F, distance_R;


long distance;

int set = 20;

void setup() {
Serial.begin(9600); // Initialize serial port
Serial.println("Start");

myservo.attach(10);
myservo.write(90);

pinMode (trigpin, OUTPUT);


pinMode (echopin, INPUT );

motor1.setSpeed(180); // set the motor speed to 0-255


motor2.setSpeed(180);
motor3.setSpeed(180);
motor4.setSpeed(180);
}
//
=================================================================
==============
// Main
//
=================================================================
==============
void loop() {
distance_F = data();
Serial.print("S=");
Serial.println(distance_F);
if (distance_F > set){
Serial.println("Forward");
motor1.run(FORWARD); // turn it on going forward
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
else{hc_sr4();}
}

long data(){
digitalWrite(trigpin, LOW);
delayMicroseconds(2);
digitalWrite(trigpin, HIGH);
delayMicroseconds(10);
distance = pulseIn (echopin, HIGH);
return distance / 29 / 2;
}

void compareDistance(){
if (distance_L > distance_R){
motor1.run(BACKWARD); // turn it on going left
motor2.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
delay(350);
}
else if (distance_R > distance_L){
motor1.run(FORWARD); // the other right
motor2.run(FORWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
delay(350);
}
else{
motor1.run(BACKWARD); // the other way
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
delay(300);
motor1.run(BACKWARD); // turn it on going left
motor2.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
delay(500);
}
}

void hc_sr4(){
Serial.println("Stop");
motor1.run(RELEASE); // stopped
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);

myservo.write(0);
delay(300);
distance_R = data();
delay(100);
myservo.write(170);
delay(500);
distance_L = data();
delay(100);
myservo.write(90);
delay(300);
compareDistance();
}

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