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F9YLS8IIW6PH2UD

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Muhammad Zargham Ali
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33 views5 pages

F9YLS8IIW6PH2UD

Uploaded by

Muhammad Zargham Ali
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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// Arduino Obstacle Avoiding Robot

// Code adapted from http://www.educ8s.tv


// First Include the NewPing and Servo Libraries

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

#define TRIG_PIN A4
#define ECHO_PIN A5
#define MAX_DISTANCE 200
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
Servo myservo;

boolean goesForward=false;
int distance = 100;
int speedSet = 0;

const int motorPin1 = 11;


const int motorPin2 = 10;
//Motor B
const int motorPin3 = 6;
const int motorPin4 = 5;

void setup() {

myservo.attach(9);
myservo.write(115);
delay(2000);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}

void loop() {
int distanceR = 0;
int distanceL = 0;
delay(40);

if(distance<=20)
{
moveStop();
delay(100);
moveBackward();
delay(300);
moveStop();
delay(200);
distanceR = lookRight();
delay(200);
distanceL = lookLeft();
delay(200);

if(distanceR>=distanceL)
{
turnRight();
moveStop();
}else
{
turnLeft();
moveStop();
}
}else
{
moveForward();
}
distance = readPing();
}

int lookRight()
{
myservo.write(50);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
}

int lookLeft()
{
myservo.write(170);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
delay(100);
}

int readPing() {
delay(70);
int cm = sonar.ping_cm();
if(cm==0)
{
cm = 250;
}
return cm;
}

void moveStop() {
analogWrite(motorPin1, 0);
analogWrite(motorPin2, 0);
analogWrite(motorPin3, 0);
analogWrite(motorPin4, 0);
}

void moveForward() {

analogWrite(motorPin1, 180);
analogWrite(motorPin2, 0);
analogWrite(motorPin3, 180);
analogWrite(motorPin4, 0);

void moveBackward() {
analogWrite(motorPin1, 0);
analogWrite(motorPin2, 180);
analogWrite(motorPin3, 0);
analogWrite(motorPin4, 180);

void turnRight() {
analogWrite(motorPin1, 180);
analogWrite(motorPin2, 0);
analogWrite(motorPin3, 0);
analogWrite(motorPin4, 180);
delay(300);
moveForward();

void turnLeft() {
analogWrite(motorPin1, 0);
analogWrite(motorPin2, 180);
analogWrite(motorPin3, 180);
analogWrite(motorPin4, 0);
delay(300);
moveForward();
}

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