Autonomous Car

This project is a self-driving car that is programmed to avoid obstacles and activate LED's while doing so.

Nov 27, 2017

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lights

cars

robots

Devices & Components

Arduino Uno Rev3

RobotGeek Continuous Rotation Servo

Ultrasonic Sensor - HC-SR04 (Generic)

Jumper wires (generic)

Breadboard (generic)

Software & Tools

Arduino IDE

Project description

Code

Autonomous Car

arduino

This is the code used to make the car detect obstacles. There is another LED light that activates when lights are off. To make the front lights blink and have the reverse lights activate when backing up, uncomment the commented sections, however this may break something else in the code.

1#define trigPin 12
2#define echoPin 13
3int LED1 = 2;
4int LED2   = 3;
5int LED3 = 4;
6int LED4 = 5;
7int LED5 = 6;
8int LightPin = 0;
9int   threshold = 980;
10unsigned long previousMillis = 0;
11const long interval = 1000;
12int   ledState = LOW;
13
14
15int n;
16long duration, distance;
17String readString;
18
19#include   <Servo.h>
20Servo myservo1;
21Servo myservo2;
22
23void setup() {
24  Serial.begin(9600);
25   myservo1.attach(8);
26  myservo2.attach(9);
27  pinMode(trigPin, OUTPUT);
28   pinMode(echoPin, INPUT);
29  pinMode(LED5, OUTPUT);
30}
31
32void loop() {
33   Serial.println(analogRead(LightPin));
34
35  digitalWrite(trigPin, HIGH);
36   _delay_ms(500);
37  digitalWrite(trigPin, LOW);
38  duration = pulseIn(echoPin,   HIGH);
39  distance = (duration / 2) / 29.1;
40
41  unsigned long currentMillis   = millis();
42
43  if (analogRead(LightPin) > threshold && currentMillis - previousMillis   > interval) {
44    if (ledState == HIGH) {
45      ledState = LOW;
46      Serial.println("low");
47     } else {
48      ledState = HIGH;
49      Serial.println("high");
50    }
51     digitalWrite(LED5 , ledState);
52
53  }
54    if (distance < 30) {
55      //   digitalWrite(LED1,LOW);
56      //  digitalWrite(LED2,LOW);
57      //  digitalWrite(LED3,HIGH);
58       //  digitalWrite(LED4,HIGH);
59      myservo1.write(n);
60      myservo2.write(180   - n);
61      delay(1000);
62      myservo1.write(n);
63      myservo2.write(90   - n);
64      delay(500);
65    }
66    else {
67      // digitalWrite(LED1,   HIGH);
68      // digitalWrite(LED2, HIGH);
69      // digitalWrite(LED3, LOW);
70       // digitalWrite(LED4,LOW);
71      myservo1.write(180 - n);
72      myservo2.write(n);
73
74     }
75  }

#define trigPin 12
#define echoPin 13
int LED1 = 2;
int LED2   = 3;
int LED3 = 4;
int LED4 = 5;
int LED5 = 6;
int LightPin = 0;
int   threshold = 980;
unsigned long previousMillis = 0;
const long interval = 1000;
int   ledState = LOW;


int n;
long duration, distance;
String readString;

#include   <Servo.h>
Servo myservo1;
Servo myservo2;

void setup() {
  Serial.begin(9600);
   myservo1.attach(8);
  myservo2.attach(9);
  pinMode(trigPin, OUTPUT);
   pinMode(echoPin, INPUT);
  pinMode(LED5, OUTPUT);
}

void loop() {
   Serial.println(analogRead(LightPin));

  digitalWrite(trigPin, HIGH);
   _delay_ms(500);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin,   HIGH);
  distance = (duration / 2) / 29.1;

  unsigned long currentMillis   = millis();

  if (analogRead(LightPin) > threshold && currentMillis - previousMillis   > interval) {
    if (ledState == HIGH) {
      ledState = LOW;
      Serial.println("low");
     } else {
      ledState = HIGH;
      Serial.println("high");
    }
     digitalWrite(LED5 , ledState);

  }
    if (distance < 30) {
      //   digitalWrite(LED1,LOW);
      //  digitalWrite(LED2,LOW);
      //  digitalWrite(LED3,HIGH);
       //  digitalWrite(LED4,HIGH);
      myservo1.write(n);
      myservo2.write(180   - n);
      delay(1000);
      myservo1.write(n);
      myservo2.write(90   - n);
      delay(500);
    }
    else {
      // digitalWrite(LED1,   HIGH);
      // digitalWrite(LED2, HIGH);
      // digitalWrite(LED3, LOW);
       // digitalWrite(LED4,LOW);
      myservo1.write(180 - n);
      myservo2.write(n);

     }
  }

Autonomous Car

arduino

1#define trigPin 12
2#define echoPin 13
3int LED1 = 2;
4int LED2  = 3;
5int LED3 = 4;
6int LED4 = 5;
7int LED5 = 6;
8int LightPin = 0;
9int  threshold = 980;
10unsigned long previousMillis = 0;
11const long interval = 1000;
12int  ledState = LOW;
13
14
15int n;
16long duration, distance;
17String readString;
18
19#include  <Servo.h>
20Servo myservo1;
21Servo myservo2;
22
23void setup() {
24  Serial.begin(9600);
25  myservo1.attach(8);
26  myservo2.attach(9);
27  pinMode(trigPin, OUTPUT);
28  pinMode(echoPin, INPUT);
29  pinMode(LED5, OUTPUT);
30}
31
32void loop() {
33  Serial.println(analogRead(LightPin));
34
35  digitalWrite(trigPin, HIGH);
36  _delay_ms(500);
37  digitalWrite(trigPin, LOW);
38  duration = pulseIn(echoPin,  HIGH);
39  distance = (duration / 2) / 29.1;
40
41  unsigned long currentMillis  = millis();
42
43  if (analogRead(LightPin) > threshold && currentMillis - previousMillis  > interval) {
44    if (ledState == HIGH) {
45      ledState = LOW;
46      Serial.println("low");
47    } else {
48      ledState = HIGH;
49      Serial.println("high");
50    }
51    digitalWrite(LED5 , ledState);
52
53  }
54    if (distance < 30) {
55      //  digitalWrite(LED1,LOW);
56      //  digitalWrite(LED2,LOW);
57      //  digitalWrite(LED3,HIGH);
58      //  digitalWrite(LED4,HIGH);
59      myservo1.write(n);
60      myservo2.write(180  - n);
61      delay(1000);
62      myservo1.write(n);
63      myservo2.write(90  - n);
64      delay(500);
65    }
66    else {
67      // digitalWrite(LED1,  HIGH);
68      // digitalWrite(LED2, HIGH);
69      // digitalWrite(LED3, LOW);
70      // digitalWrite(LED4,LOW);
71      myservo1.write(180 - n);
72      myservo2.write(n);
73
74    }
75  }

#define trigPin 12
#define echoPin 13
int LED1 = 2;
int LED2  = 3;
int LED3 = 4;
int LED4 = 5;
int LED5 = 6;
int LightPin = 0;
int  threshold = 980;
unsigned long previousMillis = 0;
const long interval = 1000;
int  ledState = LOW;


int n;
long duration, distance;
String readString;

#include  <Servo.h>
Servo myservo1;
Servo myservo2;

void setup() {
  Serial.begin(9600);
  myservo1.attach(8);
  myservo2.attach(9);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(LED5, OUTPUT);
}

void loop() {
  Serial.println(analogRead(LightPin));

  digitalWrite(trigPin, HIGH);
  _delay_ms(500);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin,  HIGH);
  distance = (duration / 2) / 29.1;

  unsigned long currentMillis  = millis();

  if (analogRead(LightPin) > threshold && currentMillis - previousMillis  > interval) {
    if (ledState == HIGH) {
      ledState = LOW;
      Serial.println("low");
    } else {
      ledState = HIGH;
      Serial.println("high");
    }
    digitalWrite(LED5 , ledState);

  }
    if (distance < 30) {
      //  digitalWrite(LED1,LOW);
      //  digitalWrite(LED2,LOW);
      //  digitalWrite(LED3,HIGH);
      //  digitalWrite(LED4,HIGH);
      myservo1.write(n);
      myservo2.write(180  - n);
      delay(1000);
      myservo1.write(n);
      myservo2.write(90  - n);
      delay(500);
    }
    else {
      // digitalWrite(LED1,  HIGH);
      // digitalWrite(LED2, HIGH);
      // digitalWrite(LED3, LOW);
      // digitalWrite(LED4,LOW);
      myservo1.write(180 - n);
      myservo2.write(n);

    }
  }

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