Arduino -based four way tracking car kit tutorial V2.

V2.0.20.12.9
Product List
 Preface

Welcome to use the DIY four way tracking and Ultrasonic obstacle

avoidance car kit tutorial launched by ZHIYI! Whether you are an

experienced maker or a novice with a small amount of professional skills,

this tutorial will help you make something very cool: DIY four way

tracking and Ultrasonic obstacle avoidance car kit tutorial mode.

The kit is based on the popular open source electronic platform Arduino.

You can share and exchange your experiences and design ideas with fans

all over the world. All components in the kit are individually packaged,

including all the electronic components, modules and mechanical

components required for these items. At the same time, there are

detailed assembly and debugging instructions in this tutorial. To ensure

that your smart car can be assembled and run smoothly, if you

encounter difficult technical problems, you can contact us at any time,

and we will provide you with high-quality technical support services for

free as soon as possible.

The content of this tutorial can ensure that novices without any

professional skills can accomplish the goal. If you are interested in

Arduino and want to learn how to program and build circuits, please visit

our shop or contact us to purchase an Arduino learning starter kit

specially prepared for beginners.

Arduino

Arduino is an open source electronic platform based on easy-to-use

hardware and software.Suitable for anyone working on interactive

projects. Usually, an Arduino project consists of circuits and codes.

Arduino board

The Arduino board is a circuit board that integrates a microcontroller,

input and output interfaces, etc.The Arduino board can use sensors to

sense the environment and receive user operations to control LEDs,

motor rotation, and so on. We just need to assemble the circuit and

write the code.Currently, there are several models of Arduino

development boards, and the codes between different types of

development boards are common (due to different hardware, some

development boards may not be fully compatible). Popular main control

boards include
Circuit diagram of the product
Component description:

L298N:

1. Input voltage of logic part: 6 ~ 7V

2. input voltage of drive part vs: 4.8 ~ 46v
3. working current of logic part is: ≤ 36ma
4. working current of driving part IO: ≤ 2A
5. maximum dissipation power: 25W (t = 75 ℃)
6. Control signal input level: high level: 2.3V ≤ VIN ≤ vs
low level:- 0.3V ≤ VIN ≤ 1.5V
7. working temperature: - 25 ℃ ~ + 130 ℃
8.driving mode: double channel high power H-bridge drive
How does L298N module work？

1.ENA, ENB control enable

2.Out1,out2 and out3,out4 controls the motor,
3.IN1, IN2, IN3, IN4 connect control level, control positive and negative
rotation.
State ENA ENB IN1 IN2 IN3 IN4
Stop 0 0 X X X X
Brake 1 1 0 0 0 0
Forward 1 1 1 0 1 0
Back 1 1 0 1 0 1
Turn Left 1 1 0 0 1 0
Turn Right 1 1 1 0 0 0
Figure:
HC-SR04 module:

Electrical parameters HC-SR04 Ultrasonic module

Working voltage DC-5V

Working current 15mA

Working frequency 40KHz

Maximum range 4m

Minimum range 2cm

Measuring angle 15°

Input trigger signal 10 US TTL pulse

Output echo signal Output TTL level signal, proportional to the range

Size 45*20*15

How does ultrasonic obstacle avoidance work？

1. Transmitter (trigger pin) sending signal: high-frequency sound.

2. When a signal finds an object, it is reflected.

3. Receiver (echo pin) : Receives the signal reflected back from it

Figure:
The HC-SR04 ultrasonic sensor detects how far ahead an obstacle has

appeared.If there is an obstacle in your specified detection range, the

car can make corresponding actions.For example, forward, back, turn

left or turn right.

SG90 module:

The control signal enters the signal modulation chip from the channel of

the receiver to obtain the DC bias voltage.It has an internal reference

circuit, which generates a reference signal with a cycle of 20ms and a

width of 1.5ms. The dc bias voltage obtained is compared with the

voltage of the potentiometer to obtain the voltage difference

output.Finally, the positive and negative output of the voltage difference

to the motor driver chip determines the positive and negative rotation
of the motor.When the motor speed is fixed, the potentiometer is driven

to rotate by the cascade reduction gear, so that the voltage difference is

0 and the motor stops rotating.

How does SG90 module work？

Control of steering gear:

The control of steering gear generally requires a time base pulse of

about 20ms, and the high level part of this pulse is generally the Angle

control pulse part within the range of 0.5ms~2.5ms.Taking the servo at

an Angle of 180 degrees as an example, the corresponding control

relationship is as follows:

0.5 ms -- -- -- -- -- -- -- -- -- -- -- -- -- - 0°

1.0 ms -- -- -- -- -- -- -- -- -- -- -- -- 45°

1.5 ms -- -- -- -- -- -- -- -- -- -- -- -- 90°

2.0 ms -- -- -- -- -- -- -- -- -- -- - 135°

Figure:
Four channel tracking module：

Electrical parameters Four channel tracking module

Working voltage DC 3.3V-5V

Working current 1A

working temperature -10℃ to 50℃

Mounting aperture M3

detect distance 1mm to 60cm

Size 42*38mm

Output signal TTL level

How does Four channel tracking module work？

The sensor belongs to infrared reflection detection, so the reflectivity

and shape of the target is the key to the detection range.Among them,

the black detection distance is the smallest and the white detection

distance is the largest.Small area object distance is small, large area

distance is big.

Infrared detection method, that is, the use of infrared light in different

colors of the object surface has different reflection intensity

characteristics, in the process of the car constantly emitting infrared

light to the ground, when the infrared light encounter white paper floor

diffuse reflection, reflected light is installed in the car received by the

receiving tube;If a black line is encountered, the infrared light is

absorbed and the receiver tube on the car does not receive the infrared

light.MCU on whether to receive the reflected infrared light as the basis

to determine the location of the black line and car travel route.
Figure:

LM393 module:

The sensor module light is adaptable to the environment, it has a pair of

infrared transmitting and receiving tube, tubes, the frequency of ir when

detecting direction meet with obstacles (reflecting surface), reflected

infrared receiving tube, after the comparator circuit processing, green

indicator will light up, at the same time signal output interface and

output digital signal (a low level signal), can be adjusted through the

potentiometer knob detection distance, effective distance range 2 ~ 30

cm, the working voltage of 3.3 V to 5 V.The detection distance of the

sensor can be adjusted by potentiometer, which has the characteristics

of small interference, easy assembly and easy use.

How does Infrared detection module work？

1. When the module detects the obstacle signal in front, the green

indicator light on the circuit board lights up the level, and the OUT port

continuously outputs the low-level signal. The detection distance of the

module is 2 ~ 30cm, and the detection Angle is 35 °.Counterclockwise

potentiometer to reduce detection distance.

2. Active infrared reflection detection of the sensor, so the reflectivity

and shape of the target are the key to the detection range.Among them,

the black detection distance is small, while the white is large.Small area

object distance is small, large area distance is big.

3. The output port OUT of the sensor module can be directly connected

with IO port of single-chip microcomputer, or it can drive a 5V relay

directly;Connection mode:

VCC-VCC; GND-GND; OUT-IO

4. The comparator adopts LM393 and works stably;

5. 3-5V DC power supply can be used to supply power to the module.When the
power is switched on, the red power indicator lights up.
6. Screw hole of 3mm for easy fixing and installation;

7. Circuit board size: 3.2cm * 1.4cm

Figure:
 Code description:

Part 1: Ultrasonic obstacle avoidance program

/*************************************
* TIME:2020.12.9
* Development Team: Zhiyi Technology Co., Ltd.
*
* **************************************/
/*************************************
* TIME:2020.12.9
* Development Team: Zhiyi Technology Co., Ltd.
*
* **************************************/
#include <Servo.h> //servo library
Servo myservo; // create servo object to control servo

int Echo = 13;//Pin to D13

int Trig = 12;//Pin to D12
int sound = 15;//Pin to D15

#define ENA 5
#define ENB 6
#define IN1 3
#define IN2 4
#define IN3 2
#define IN4 7

#define carSpeed 150//Set the carSpeed to 150

int rightDistance = 0, leftDistance = 0, middleDistance = 0;

void forward(){//forward function

analogWrite(ENA, carSpeed);//Set the speed of ENA
analogWrite(ENB, carSpeed);//Set the speed of ENB
//The right forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
//The left forward
digitalWrite(IN3, HIGH);
 digitalWrite(IN4, LOW);

Serial.println("Forward");
}

void back() {//back function

analogWrite(ENA, carSpeed);//Set the speed of ENA
analogWrite(ENB, carSpeed);//Set the speed of ENB
//The rihgt back
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
//The left back
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
Serial.println("Back");
}

void left() {//left function

analogWrite(ENA, carSpeed);//Set the speed of ENA
analogWrite(ENB, carSpeed);//Set the speed of ENB
//The right forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
//The left back
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);

Serial.println("Left");
}

void right() {//right function

analogWrite(ENA, carSpeed); //Set the speed of ENA
analogWrite(ENB, carSpeed); //Set the speed of ENB

//The rihgt back

digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
//The left forward
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);

Serial.println("Right");
}
void stop() {//stop function
digitalWrite(ENA, LOW); //Set the speed of ENA to low
digitalWrite(ENB, LOW); //Set the speed of ENB to low
Serial.println("Stop!");
}

int Distance_test() {
digitalWrite(Trig, LOW);
delayMicroseconds(2);
digitalWrite(Trig, HIGH);
delayMicroseconds(20);
digitalWrite(Trig, LOW);
float Fdistance = pulseIn(Echo, HIGH);
Fdistance= Fdistance / 58;
return (int)Fdistance;
}

void setup() {
myservo.attach(A0,700,2400); // attach servo on pin 3 to servo object
Serial.begin(9600);
pinMode(Echo, INPUT);
pinMode(Trig, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
stop();
}

void loop() {
myservo.write(90); //setservo position according to scaled value
delay(500);
middleDistance = Distance_test();//getDistance();

if(middleDistance <= 40) {

stop();
delay(500);
myservo.write(10);
delay(500);
rightDistance = Distance_test();//getDistance();

delay(500);
 myservo.write(90);
delay(500);
myservo.write(180);
delay(500);
leftDistance = Distance_test();//getDistance();
delay(500);
myservo.write(90);
delay(500);

if(rightDistance > leftDistance) {

right();
delay(360);
}
else if(rightDistance < leftDistance) {
left();
delay(360);
}
else if((rightDistance <= 40) || (leftDistance <= 40)) {

back();

}
else {
forward();
}
}
else {
forward();
}
}

explanation for the program：

When the front side detects the obstacle, the trolley will stop, and the

steering engine will rotate left and right to detect the distance between

the two sides of the obstacle, judge the distance between the two sides

is further, and the trolley will rotate to which side.

 Part 2: Four road tracking program
int ENA = 5;
int IN1 = 3;
int IN2 = 4;
int ENB = 6;
int IN3 = 2;
int IN4 = 7;
#define ENASpeed 100 //set the speed for ENA
#define ENBSpeed 100//set the speed for ENB
int Sensor1 = 0;
int Sensor2 = 0;
int Sensor3 = 0;
int Sensor4 = 0;
void setup() {
pinMode(ENA, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(Sensor1, INPUT);
pinMode(Sensor2, INPUT);
pinMode(Sensor3, INPUT);
pinMode(Sensor4, INPUT);
Serial.begin(9600);
}
void loop(){
digitalWrite(ENA, HIGH);
digitalWrite(ENB, HIGH);
//Count from left to right
Sensor1 = digitalRead(8);//The first sensor
Sensor2 = digitalRead(9);//TheSecond sensor
Sensor3 = digitalRead(10);//Third sensor
Sensor4 = digitalRead(11);//Fourth sensor
//When a black line is detected, the sensor is low
//When no black line is detected, the sensor is high
//If the third and fourth sensors detect a black line, turn left.
if (Sensor4 == LOW && Sensor3 == LOW && Sensor2 == HIGH && Sensor1 == HIGH)
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
Serial.println("left");
}
//If the first s and Second sensors detect a black line, turn right.
else if(Sensor4 == HIGH && Sensor3 == HIGH && Sensor2 == LOW && Sensor1 ==
LOW)
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
Serial.println("right");
}
//If the third and Second sensors detect a black line, turn run.
else if(Sensor4 == LOW && Sensor3 == HIGH && Sensor2 == HIGH && Sensor1 ==
LOW)
{
 //FORWARD
digitalWrite(IN1, HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
Serial.println("run");
}
//When all the sensors fail to detect the signal, the car backs up
else if(Sensor4 == LOW && Sensor3 == LOW && Sensor2 == LOW && Sensor1 ==
LOW)
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
Serial.println("back");
}

explanation for the program：

When Sensor1 and Sensor2 infrared sensors detect the black line, and

Sensor3 and Sensor4 do not detect the black line, then MCU controls the

L298N module to make the car turn right.

When Sensor3 and Sensor4 infrared sensors detect the black line, and

Sensor1 and Sensor2 do not detect the black line, then MCU controls the

L298N module to make the car turn left.

 When the black line is detected by Sensor3 and Sensor2 infrared sensors

and no black line is detected by Sensor1 and Sensor4, the MCU controls

the L298N module to make the car move forward.

When the black line is not detected by Sensor1, Sensor2, Sensor3 and

Sensor4 infrared sensors, the MCU controls the L298N module to make

the car move back.

Part 3: the Car follow program

#include <AFMotor.h>
#define Trig 12 //Pin Tring connects to D12
#define Echo 13 //Pin Echo connects to D13
float cm; //Distance variable
float temp; //

int ENA = 5;
int IN1 = 3;
int IN2 = 4;

int ENB = 6;
int IN3 = 2;
int IN4 = 7;
int Sensor1 =A5;//pin A5
int Sensor2 =A2;//pin A2
int val1;
int val2;

void setup() {
pinMode(ENA, OUTPUT);
 pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);

pinMode(Sensor1, INPUT);
pinMode(Sensor2, INPUT);
pinMode(Trig, OUTPUT);
pinMode(Echo, INPUT);
Serial.begin(9600);
}

void loop(){
val1 = digitalRead(A5);//The sensor on the left
val2 = digitalRead(A2);//The sensor on the Right

// Send a low short pulse to Trig to trigger the ranging

digitalWrite(Trig, LOW); //Send a low level to Trig

delayMicroseconds(2); //delay 2us
digitalWrite(Trig,HIGH); //Send a HIGH level to Trig
delayMicroseconds(10); //delay 10us
digitalWrite(Trig, LOW); //Send a low level to Trig
temp = float(pulseIn(Echo, HIGH)); // Store echo wait time,
// The pulseIn function waits for the pin to change to HIGH, begins to calculate the time,
//waits for it to change to LOW, and stops the timing
// Return the length of the pulse
// the speed of sound is 340m/1s, which is converted to 34000cm / 1000000 s =>
//34/1000
// Since the actual distance from send to receive is 2 times, we have to divide by 2
// Distance (cm) = (echo time * (34/1000)) / 2
// The simplified calculation formula is (echo time * 17)/ 1000

cm = (temp * 17 )/1000; //Convert the echo time to cm

//If the sensor on the right detects the signal and the sensor on the left does not
//and the distance of the obstacle detected by the ultrasonic is less than 10cm and
greater than 5cm
//turn right
if (val1 == HIGH && val2 == LOW&& ( cm >5&& cm <10))
{

right();
}
//If the sensor on the left detects the signal and the sensor on the right does not
//and the distance of the obstacle detected by the ultrasonic is less than 10cm and
greater than 5cm
//turn left
else if(val1 == LOW && val2 == HIGH&& ( cm >5&& cm <10))
{
left();
}
else if(val1 == HIGH && val2 == HIGH&&( cm >15&& cm <25))
{
forward();
}
else if(val1 == HIGH && val2 == HIGH &&( cm >30||cm <3))
{
stop();
}
 else if((val1 == LOW && val2 == LOW)||( cm <3))
{
back();
}

Serial.print("Echo =");
Serial.print(temp);//The serial port outputs the raw data of the wait time
Serial.print(" | | Distance = ");
Serial.print(cm);//The serial output distance is converted into cm
Serial.println("cm");
delay(100);
}
//turn left
void left(){
//Set the speed of the motor
analogWrite(ENA, 160);
analogWrite(ENB, 60);
//The right forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
//The left stop
digitalWrite(IN3,LOW );
digitalWrite(IN4,LOW );
Serial.println("left");
}
//turn right
void right(){
//Set the speed of the motor
analogWrite(ENA, 60);
analogWrite(ENB, 160);
 //The right STOP
digitalWrite(IN1, LOW);
digitalWrite(IN2,LOW );
//The left forward
digitalWrite(IN3, HIGH );
digitalWrite(IN4,LOW);
Serial.println("right");
}
//turn forward
void forward(){
//FORWARD
//Set the speed of the motor
analogWrite(ENA, 130);
analogWrite(ENB, 130);
//The right forward
digitalWrite(IN1, HIGH);
digitalWrite(IN2,LOW);
//The left forward
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
Serial.println("run");
}

//stop
void stop(){
//set IN1,IN2,IN3,IN4 to LOW
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
 Serial.println("stop");
}
//back up
void back(){
//Set the speed of the motor
analogWrite(ENA, 110);
analogWrite(ENB, 110);
//The right back
digitalWrite(IN1, LOW);
digitalWrite(IN2,HIGH);
//The left back
digitalWrite(IN3,LOW);
digitalWrite(IN4, HIGH);
Serial.println("back");

explanation for the program：

The realization of the function of car following module requires the

combination of two infrared detection modules and ultrasonic module.

When the sensor on the left detects the signal, while the sensor on the

right does not, and the ultrasonic detects the distance of the obstacle in

front is less than 10cm and greater than 5cm, the car turns left.

When the sensor on the right detects the signal while the sensor on the

left does not, and the ultrasonic detects the distance of the obstacle in

front is less than 10cm and greater than 5cm, the car turns right.
When the ultrasonic detects the distance of the obstacle in front is less

than 25cm and greater than 15cm, the trolley will move forward.

When the signal is detected by both sensors and the distance of the

obstacle in front is less than 3cm detected by the ultrasonic wave, the

car backs away.

When no signal is detected by sensors on both sides and the distance of

the obstacle in front is greater than 30cm or less than 3cm, the car

stops.