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The document is a C program for controlling a robot using an ultrasonic sensor and servo motor. It defines various functions to control the robot's movements (forward, backward, left, right, stop) and to scan distances using the ultrasonic sensor. The main loop continuously checks the distance to obstacles and decides the robot's actions based on the readings from the left and right scans.

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18 views7 pages

Project Code

The document is a C program for controlling a robot using an ultrasonic sensor and servo motor. It defines various functions to control the robot's movements (forward, backward, left, right, stop) and to scan distances using the ultrasonic sensor. The main loop continuously checks the distance to obstacles and decides the robot's actions based on the readings from the left and right scans.

Uploaded by

pritizamkade
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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#include <reg52.

h>
#include <intrins.h>
// Define pin assignments for various components
sbit servo_pin = P2^0;
sbit trig = P3^0;
sbit echo = P3^1;
sbit m1p1 = P1^0;
sbit m1p2 = P1^1;
sbit m2p1 = P1^2;
sbit m2p2 = P1^3;
// Global variables to store distances and readings
int distance;
int distanceright = 0;
int distanceleft = 0;
// Function prototypes
int get_distance();
void Delay_servo(unsigned int);
void Delay_servo1(unsigned int);
void delay(unsigned int);
void forward();
void stop();
void backward();
void left();
void right();
void servo_return();
int scanright();
int scanleft();
// Function to generate microsecond delay
void delay(unsigned int time)
{
unsigned int i, j;
for (i = 0; i < time; i++)
{
for (j = 0; j < 1275; j++);
}
}
// Function to generate millisecond delay
void Delay_servo(unsigned int ms)
{
unsigned long int us = ms * 1000;
while (us--)
{
_nop_();
}
}
// Function to generate microsecond delay
void Delay_servo1(unsigned int us)
{
while (us--)
{
_nop_();
}}
// Function to move the robot forward
void forward()
{
m1p1 = 1;
m1p2 = 0;
m2p1 = 1;
m2p2 = 0;
}
// Function to stop the robot
void stop()
{
m1p1 = 0;
m1p2 = 0;
m2p1 = 0;
m2p2 = 0;
}
// Function to move the robot backward
void backward()
{
m1p1 = 0;
m1p2 = 1;
m2p1 = 0;
m2p2 = 1;
}
// Function to make the robot turn left
void left()
{
m1p1 = 0;
m1p2 = 1;
m2p1 = 1;
m2p2 = 0;
}
// Function to make the robot turn right
void right()
{
m1p1 = 1;
m1p2 = 0;
m2p1 = 0;
m2p2 = 1;
}
// Function to return the servo to its initial position
void servo_return()
{
servo_pin = 1;
Delay_servo1(115);
servo_pin = 0;
Delay_servo(2);
}
// Function to scan to the right and get the distance
int scanright()
{
servo_pin = 1;
Delay_servo1(50);
servo_pin = 0;
distance = get_distance();
Delay_servo(20);
Delay_servo1(115);
return distance;
}
// Function to scan to the left and get the distance
int scanleft()
{
servo_pin = 1;
Delay_servo1(170);
servo_pin = 0;
Delay_servo(20);
distance = get_distance();
Delay_servo1(115);
return distance;
}
// Function to get the distance from the ultrasonic sensor
int get_distance()
{
int distance;
trig = 1;
delay(2);
trig = 0;
while (!echo);
TH0 = 0x00;
TL0 = 0x00;
TR0 = 1;
while (echo);
TR0 = 0;
distance = (TH0 << 8) + TL0;
distance = distance / 58;
return distance;
}
// Main function
void main() {
while (1)
{
unsigned int distance;
TMOD = 0x01;
TH0 = 0;
TL0 = 0;
distance = get_distance();
// Check if an object is too close
if (distance <= 20){
stop();
delay(50);
backward();
delay(5);
stop();
delay(5);
distanceright = scanright();
delay(2);
distanceleft = scanleft();
delay(5);
// Determine whether to turn right or left based on distances
if (distance >= distanceleft)
{
right();
stop();
}
else
{
left();
stop();
}
}
else{
forward();
servo_return();
}}

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