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Avoid This

This code controls 4 DC motors and a servo motor to move a robot. It uses ultrasonic sensors to detect obstacles and directs the robot to turn left or right to avoid obstacles within 25cm. If no obstacle is detected, it moves the robot forward slowly increasing the motor speed. When an obstacle is detected, it stops the robot, moves it backwards, stops, then turns left or right depending on the distance measured by the servo-positioned sensor and resumes forward movement.

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Nishant GOSWAMI
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25 views2 pages

Avoid This

This code controls 4 DC motors and a servo motor to move a robot. It uses ultrasonic sensors to detect obstacles and directs the robot to turn left or right to avoid obstacles within 25cm. If no obstacle is detected, it moves the robot forward slowly increasing the motor speed. When an obstacle is detected, it stops the robot, moves it backwards, stops, then turns left or right depending on the distance measured by the servo-positioned sensor and resumes forward movement.

Uploaded by

Nishant GOSWAMI
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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//AFMotor Library 

https://learn.adafruit.com/adafruit-motor-shield/library-install  // //NewPing


Library https://github.com/eliteio/Arduino_New_Ping.git //  //Servo
Library https://github.com/arduino-libraries/Servo.git // #include <AFMotor.h>   #include
<NewPing.h> #include <Servo.h>  #define TRIG_PIN A0  #define ECHO_PIN A1 #define
MAX_DISTANCE 100  #define MAX_SPEED 150 // sets speed of DC motors #define
MAX_SPEED_OFFSET 20 NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); 
AF_DCMotor motor1(1, MOTOR12_64KHZ);  AF_DCMotor motor2(2, MOTOR12_64KHZ);
AF_DCMotor motor3(3, MOTOR34_64KHZ); AF_DCMotor motor4(4, MOTOR34_64KHZ); Servo
myservo;    boolean goesForward=false; int distance = 100; int speedSet = 0; void setup() {  
myservo.attach(10);     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<=25)  {  
moveStop();   delay(100);   moveBackward();   delay(200);   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(100);   int cm = sonar.ping_cm();   if(cm==0)   {     cm = 250;
}   return cm; } void moveStop() {   motor1.run(RELEASE);    motor2.run(RELEASE);  
motor3.run(RELEASE);   motor4.run(RELEASE);   }     void moveForward() {  if(!goesForward)   {
goesForward=true;     motor1.run(FORWARD);           motor2.run(FORWARD);    
motor3.run(FORWARD);      motor4.run(FORWARD);         for (speed//AFMotor
Library https://learn.adafruit.com/adafruit-motor-shield/library-install  // //NewPing
Library https://github.com/eliteio/Arduino_New_Ping.git //  //Servo
Library https://github.com/arduino-libraries/Servo.git // #include <AFMotor.h>   #include
<NewPing.h> #include <Servo.h>  #define TRIG_PIN A0  #define ECHO_PIN A1 #define
MAX_DISTANCE 100  #define MAX_SPEED 150 // sets speed of DC motors #define
MAX_SPEED_OFFSET 20 NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); 
AF_DCMotor motor1(1, MOTOR12_64KHZ);  AF_DCMotor motor2(2, MOTOR12_64KHZ);
AF_DCMotor motor3(3, MOTOR34_64KHZ); AF_DCMotor motor4(4, MOTOR34_64KHZ); Servo
myservo;    boolean goesForward=false; int distance = 100; int speedSet = 0; void setup() {  
myservo.attach(10);     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<=25)  {  
moveStop();   delay(100);   moveBackward();   delay(200);   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(100);   int cm = sonar.ping_cm();   if(cm==0)   {     cm = 250;
}   return cm; } void moveStop() {   motor1.run(RELEASE);    motor2.run(RELEASE);  
motor3.run(RELEASE);   motor4.run(RELEASE);   }     void moveForward() {  if(!goesForward)   {
goesForward=true;     motor1.run(FORWARD);           motor2.run(FORWARD);    
motor3.run(FORWARD);      motor4.run(FORWARD);         for (speedSet = 0; speedSet <
MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries
too quickly    {     motor1.setSpeed(speedSet);     motor2.setSpeed(speedSet);    
motor3.setSpeed(speedSet);     motor4.setSpeed(speedSet);     delay(5);    }   } } void
moveBackward() {     goesForward=false;     motor1.run(BACKWARD);          
motor2.run(BACKWARD);     motor3.run(BACKWARD);     motor4.run(BACKWARD);     for
(speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid
loading down the batteries too quickly   {     motor1.setSpeed(speedSet);    
motor2.setSpeed(speedSet);     motor3.setSpeed(speedSet);     motor4.setSpeed(speedSet);    
delay(5);   } }   void turnRight() {   motor1.run(FORWARD);   motor2.run(FORWARD);  
motor3.run(BACKWARD);   motor4.run(BACKWARD);        delay(500);  
motor1.run(FORWARD);         motor2.run(FORWARD);   motor3.run(FORWARD);  
motor4.run(FORWARD);       }    void turnLeft() {   motor1.run(BACKWARD);       
motor2.run(BACKWARD);     motor3.run(FORWARD);   motor4.run(FORWARD);      delay(500);  
motor1.run(FORWARD);        motor2.run(FORWARD);   motor3.run(FORWARD);  
motor4.run(FORWARD); Set = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the
speed up to avoid loading down the batteries too quickly    {     motor1.setSpeed(speedSet);    
motor2.setSpeed(speedSet);     motor3.setSpeed(speedSet);     motor4.setSpeed(speedSet);    
delay(5);    }   } } void moveBackward() {     goesForward=false;     motor1.run(BACKWARD);        
motor2.run(BACKWARD);     motor3.run(BACKWARD);     motor4.run(BACKWARD);     for
(speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid
loading down the batteries too quickly   {     motor1.setSpeed(speedSet);    
motor2.setSpeed(speedSet);     motor3.setSpeed(speedSet);     motor4.setSpeed(speedSet);    
delay(5);   } }   void turnRight() {   motor1.run(FORWARD);   motor2.run(FORWARD);  
motor3.run(BACKWARD);   motor4.run(BACKWARD);        delay(500);  
motor1.run(FORWARD);         motor2.run(FORWARD);   motor3.run(FORWARD);  
motor4.run(FORWARD);       }    void turnLeft() {   motor1.run(BACKWARD);       
motor2.run(BACKWARD);     motor3.run(FORWARD);   motor4.run(FORWARD);      delay(500);  
motor1.run(FORWARD);        motor2.run(FORWARD);   motor3.run(FORWARD);  
motor4.run(FORWARD);

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