Obstacle Avoidance Robot

1int trigPin = 9;      // trig pin of HC-SR04
2int echoPin = 10;     //   Echo pin of HC-SR04
3
4int revleft4 = 4;       //REVerse motion of Left motor
5int   fwdleft5 = 5;       //ForWarD motion of Left motor
6int revright6 = 6;      //REVerse   motion of Right motor
7int fwdright7 = 7;      //ForWarD motion of Right motor
8
9long   duration, distance;
10
11void setup() {
12  
13  delay(random(500,2000));   //   delay for random time
14  Serial.begin(9600);
15  pinMode(revleft4, OUTPUT);      //   set Motor pins as output
16  pinMode(fwdleft5, OUTPUT);
17  pinMode(revright6,   OUTPUT);
18  pinMode(fwdright7, OUTPUT);
19  
20  pinMode(trigPin, OUTPUT);         //   set trig pin as output
21  pinMode(echoPin, INPUT);          //set echo pin as   input to capture reflected waves
22}
23
24void loop() {
25
26  digitalWrite(trigPin,   LOW);
27  delayMicroseconds(2);   
28  digitalWrite(trigPin, HIGH);     // send   waves for 10 us
29  delayMicroseconds(10);
30  duration = pulseIn(echoPin, HIGH);   // receive reflected waves
31  distance = duration / 58.2;   // convert to distance
32   delay(10);
33    // If you dont get proper movements of your robot then alter   the pin numbers
34  if (distance > 19)            
35  {
36    digitalWrite(fwdright7,   HIGH);                    // move forward
37    digitalWrite(revright6, LOW);
38     digitalWrite(fwdleft5, HIGH);                                
39    digitalWrite(revleft4,   LOW);                                                       
40  }
41
42  if   (distance < 18)
43  {
44    digitalWrite(fwdright7, LOW);  //Stop                
45     digitalWrite(revright6, LOW);
46    digitalWrite(fwdleft5, LOW);                                
47     digitalWrite(revleft4, LOW);
48    delay(500);
49    digitalWrite(fwdright7,   LOW);      //movebackword         
50    digitalWrite(revright6, HIGH);
51    digitalWrite(fwdleft5,   LOW);                                
52    digitalWrite(revleft4, HIGH);
53    delay(500);
54     digitalWrite(fwdright7, LOW);  //Stop                
55    digitalWrite(revright6,   LOW);
56    digitalWrite(fwdleft5, LOW);                                
57    digitalWrite(revleft4,   LOW);  
58    delay(100);  
59    digitalWrite(fwdright7, HIGH);       
60    digitalWrite(revright6,   LOW);   
61    digitalWrite(revleft4, LOW);                                 
62     digitalWrite(fwdleft5, LOW);  
63    delay(500);
64  }
65
66}
67

1int trigPin = 9;      // trig pin of HC-SR04
2int echoPin = 10;     //  Echo pin of HC-SR04
3
4int revleft4 = 4;       //REVerse motion of Left motor
5int  fwdleft5 = 5;       //ForWarD motion of Left motor
6int revright6 = 6;      //REVerse  motion of Right motor
7int fwdright7 = 7;      //ForWarD motion of Right motor
8
9long  duration, distance;
10
11void setup() {
12  
13  delay(random(500,2000));   //  delay for random time
14  Serial.begin(9600);
15  pinMode(revleft4, OUTPUT);      //  set Motor pins as output
16  pinMode(fwdleft5, OUTPUT);
17  pinMode(revright6,  OUTPUT);
18  pinMode(fwdright7, OUTPUT);
19  
20  pinMode(trigPin, OUTPUT);         //  set trig pin as output
21  pinMode(echoPin, INPUT);          //set echo pin as  input to capture reflected waves
22}
23
24void loop() {
25
26  digitalWrite(trigPin,  LOW);
27  delayMicroseconds(2);   
28  digitalWrite(trigPin, HIGH);     // send  waves for 10 us
29  delayMicroseconds(10);
30  duration = pulseIn(echoPin, HIGH);  // receive reflected waves
31  distance = duration / 58.2;   // convert to distance
32  delay(10);
33    // If you dont get proper movements of your robot then alter  the pin numbers
34  if (distance > 19)            
35  {
36    digitalWrite(fwdright7,  HIGH);                    // move forward
37    digitalWrite(revright6, LOW);
38    digitalWrite(fwdleft5, HIGH);                                
39    digitalWrite(revleft4,  LOW);                                                       
40  }
41
42  if  (distance < 18)
43  {
44    digitalWrite(fwdright7, LOW);  //Stop                
45    digitalWrite(revright6, LOW);
46    digitalWrite(fwdleft5, LOW);                                
47    digitalWrite(revleft4, LOW);
48    delay(500);
49    digitalWrite(fwdright7,  LOW);      //movebackword         
50    digitalWrite(revright6, HIGH);
51    digitalWrite(fwdleft5,  LOW);                                
52    digitalWrite(revleft4, HIGH);
53    delay(500);
54    digitalWrite(fwdright7, LOW);  //Stop                
55    digitalWrite(revright6,  LOW);
56    digitalWrite(fwdleft5, LOW);                                
57    digitalWrite(revleft4,  LOW);  
58    delay(100);  
59    digitalWrite(fwdright7, HIGH);       
60    digitalWrite(revright6,  LOW);   
61    digitalWrite(revleft4, LOW);                                 
62    digitalWrite(fwdleft5, LOW);  
63    delay(500);
64  }
65
66}
67