new code
#include <Servo.h>
#include <NewPing.h>
#include <AFMotor.h>
#define TRIG_PIN A0 // Ultrasonic sensor trigger pin
#define ECHO_PIN A1 // Ultrasonic sensor echo pin
#define SERVO_PIN 4 // Servo motor control pin
#define MOTOR1_PIN1 5 // Motor 1 input 1 pin
#define MOTOR1_PIN2 6 // Motor 1 input 2 pin
#define MOTOR2_PIN1 7 // Motor 2 input 1 pin
#define MOTOR2_PIN2 8 // Motor 2 input 2 pin
#define MOTOR_DIR_PIN 9 // Motor direction pin
#define MAX_DISTANCE 20 // Maximum distance for obstacle detection (in cm)
#define TURN_DELAY 1000 // Delay for turning (in milliseconds)
Servo servoMotor;
void setup() {
pinMode(TRIG_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);
pinMode(MOTOR1_PIN1, OUTPUT);
pinMode(MOTOR1_PIN2, OUTPUT);
pinMode(MOTOR2_PIN1, OUTPUT);
pinMode(MOTOR2_PIN2, OUTPUT);
pinMode(MOTOR_DIR_PIN, OUTPUT);
servoMotor.attach(SERVO_PIN);
servoMotor.write(90); // Set servo motor to the center position
delay(1000);
}
void loop() {
long duration, distance;
// Ultrasonic sensor measurement
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);
duration = pulseIn(ECHO_PIN, HIGH);
distance = (duration / 2) / 29.1;
if (distance <= MAX_DISTANCE) {
// Obstacle detected, turn the car
digitalWrite(MOTOR_DIR_PIN, HIGH); // Set motor direction pin
servoMotor.write(0); // Turn the servo motor to the left
delay(TURN_DELAY);
// Stop turning and go forward
digitalWrite(MOTOR1_PIN1, HIGH);
digitalWrite(MOTOR1_PIN2, LOW);
digitalWrite(MOTOR2_PIN1, HIGH);
digitalWrite(MOTOR2_PIN2, LOW);
servoMotor.write(90); // Set the servo motor back to the center position
} else {
// No obstacle detected, move forward
digitalWrite(MOTOR_DIR_PIN, LOW); // Set motor direction pin
digitalWrite(MOTOR1_PIN1, HIGH);
digitalWrite(MOTOR1_PIN2, LOW);
digitalWrite(MOTOR2_PIN1, HIGH);
digitalWrite(MOTOR2_PIN2, LOW);
}
}
