Obstacle Avoider Robo

This robo can detect objects present in front of them from 15 cms in front of it and then changes its path.

Oct 28, 2021

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cars

communication

robots

Components and supplies

Jumper wires (generic)

SG90 Micro-servo motor

DC Motor, Miniature

Ultrasonic Sensor - HC-SR04 (Generic)

Dual H-Bridge motor drivers L293D

Arduino UNO

Tools and machines

Multitool, Screwdriver

Extraction Tool, 6 Piece Screw Extractor & Screwdriver Set

Hot glue gun (generic)

Project description

Code

Obstacle Avoiding Robo

arduino

This code is for Obstacle Avoiding Robo... Just paste it to Arduino app and upload it to the Arduino Uno circuit and it runs just fine.

1#include <Servo.h>
2Servo myservo;
3int triggerPin = 11;
4int echoPin   = 7;
5int revleft4 = 2;
6int fwdleft5 = 4;
7int revright6 = 5;
8int fwdright7   = 6;
9float distance;
10float duration;
11float distancelt;
12float distancert;
13void   setup() {
14pinMode(revleft4, OUTPUT);
15pinMode(fwdleft5, OUTPUT);
16pinMode(revright6,   OUTPUT);
17pinMode(fwdright7, OUTPUT);
18pinMode(triggerPin, OUTPUT);
19pinMode(echoPin,   INPUT);
20Serial.begin(9600);
21myservo.write(90);
22myservo.attach(3);
23}
24void   goesforward() {
25  Serial.println("Going Forward");
26  digitalWrite(fwdleft5,   HIGH);
27  digitalWrite(fwdright7, HIGH);
28}
29void goesbackward() {
30  Serial.println("Going   Backward");
31  digitalWrite(revleft4, HIGH);
32  digitalWrite(revright6, HIGH);
33   delay(500);
34  digitalWrite(revleft4, LOW);
35  digitalWrite(revright6, LOW);
36   Serial.println("Going Backward Stopped");
37}
38void turnright() {
39  Serial.println("Turning   Right");
40  digitalWrite(fwdleft5, HIGH);
41  digitalWrite(revright6, HIGH);
42   delay(500);
43  Serial.println("Turning Right Stopped");
44  digitalWrite(fwdleft5,   LOW);
45  digitalWrite(revright6, LOW);
46}
47void turnleft() {
48  Serial.println("Turning   Left");
49  digitalWrite(fwdright7, HIGH);
50  digitalWrite(revright6, HIGH);
51   delay(500);
52  Serial.println("Turning Left Stopped");
53  digitalWrite(fwdright7,   LOW);
54  digitalWrite(revright6, LOW);
55}
56void checkdistance() {
57  digitalWrite(triggerPin,   0);
58  delayMicroseconds(2);
59  digitalWrite(triggerPin, 1);
60  delayMicroseconds(10);
61   duration = pulseIn(echoPin, 1);
62}
63void loop() {
64  checkdistance();
65   distance = duration / 58.2;
66if (distance >=15.00) {
67  goesforward();
68}
69else   if (distance = 0) {
70  Serial.println("Please input the Ultrasonic Sound Sensor");
71}
72else   {
73  myservo.write(180);
74  delay(400);
75  checkdistance();
76  distancelt   = duration / 58.2;
77  delay(400);
78  myservo.write(90);
79  delay(400);
80   myservo.write(0);
81  checkdistance();
82  distancert = duration / 58.2;
83   delay(400);
84  myservo.write(90);
85  delay(250);
86  if (distancert >= distancelt)   {
87    goesbackward();
88    turnright();
89  }
90  else {
91    goesbackward();
92     turnleft();
93  }
94}
95}

#include <Servo.h>
Servo myservo;
int triggerPin = 11;
int echoPin   = 7;
int revleft4 = 2;
int fwdleft5 = 4;
int revright6 = 5;
int fwdright7   = 6;
float distance;
float duration;
float distancelt;
float distancert;
void   setup() {
pinMode(revleft4, OUTPUT);
pinMode(fwdleft5, OUTPUT);
pinMode(revright6,   OUTPUT);
pinMode(fwdright7, OUTPUT);
pinMode(triggerPin, OUTPUT);
pinMode(echoPin,   INPUT);
Serial.begin(9600);
myservo.write(90);
myservo.attach(3);
}
void   goesforward() {
  Serial.println("Going Forward");
  digitalWrite(fwdleft5,   HIGH);
  digitalWrite(fwdright7, HIGH);
}
void goesbackward() {
  Serial.println("Going   Backward");
  digitalWrite(revleft4, HIGH);
  digitalWrite(revright6, HIGH);
   delay(500);
  digitalWrite(revleft4, LOW);
  digitalWrite(revright6, LOW);
   Serial.println("Going Backward Stopped");
}
void turnright() {
  Serial.println("Turning   Right");
  digitalWrite(fwdleft5, HIGH);
  digitalWrite(revright6, HIGH);
   delay(500);
  Serial.println("Turning Right Stopped");
  digitalWrite(fwdleft5,   LOW);
  digitalWrite(revright6, LOW);
}
void turnleft() {
  Serial.println("Turning   Left");
  digitalWrite(fwdright7, HIGH);
  digitalWrite(revright6, HIGH);
   delay(500);
  Serial.println("Turning Left Stopped");
  digitalWrite(fwdright7,   LOW);
  digitalWrite(revright6, LOW);
}
void checkdistance() {
  digitalWrite(triggerPin,   0);
  delayMicroseconds(2);
  digitalWrite(triggerPin, 1);
  delayMicroseconds(10);
   duration = pulseIn(echoPin, 1);
}
void loop() {
  checkdistance();
   distance = duration / 58.2;
if (distance >=15.00) {
  goesforward();
}
else   if (distance = 0) {
  Serial.println("Please input the Ultrasonic Sound Sensor");
}
else   {
  myservo.write(180);
  delay(400);
  checkdistance();
  distancelt   = duration / 58.2;
  delay(400);
  myservo.write(90);
  delay(400);
   myservo.write(0);
  checkdistance();
  distancert = duration / 58.2;
   delay(400);
  myservo.write(90);
  delay(250);
  if (distancert >= distancelt)   {
    goesbackward();
    turnright();
  }
  else {
    goesbackward();
     turnleft();
  }
}
}

Obstacle Avoiding Robo

arduino

This code is for Obstacle Avoiding Robo... Just paste it to Arduino app and upload it to the Arduino Uno circuit and it runs just fine.

1#include <Servo.h>
2Servo myservo;
3int triggerPin = 11;
4int echoPin
5  = 7;
6int revleft4 = 2;
7int fwdleft5 = 4;
8int revright6 = 5;
9int fwdright7
10  = 6;
11float distance;
12float duration;
13float distancelt;
14float distancert;
15void
16  setup() {
17pinMode(revleft4, OUTPUT);
18pinMode(fwdleft5, OUTPUT);
19pinMode(revright6,
20  OUTPUT);
21pinMode(fwdright7, OUTPUT);
22pinMode(triggerPin, OUTPUT);
23pinMode(echoPin,
24  INPUT);
25Serial.begin(9600);
26myservo.write(90);
27myservo.attach(3);
28}
29void
30  goesforward() {
31  Serial.println("Going Forward");
32  digitalWrite(fwdleft5,
33  HIGH);
34  digitalWrite(fwdright7, HIGH);
35}
36void goesbackward() {
37  Serial.println("Going
38  Backward");
39  digitalWrite(revleft4, HIGH);
40  digitalWrite(revright6, HIGH);
41
42  delay(500);
43  digitalWrite(revleft4, LOW);
44  digitalWrite(revright6, LOW);
45
46  Serial.println("Going Backward Stopped");
47}
48void turnright() {
49  Serial.println("Turning
50  Right");
51  digitalWrite(fwdleft5, HIGH);
52  digitalWrite(revright6, HIGH);
53
54  delay(500);
55  Serial.println("Turning Right Stopped");
56  digitalWrite(fwdleft5,
57  LOW);
58  digitalWrite(revright6, LOW);
59}
60void turnleft() {
61  Serial.println("Turning
62  Left");
63  digitalWrite(fwdright7, HIGH);
64  digitalWrite(revright6, HIGH);
65
66  delay(500);
67  Serial.println("Turning Left Stopped");
68  digitalWrite(fwdright7,
69  LOW);
70  digitalWrite(revright6, LOW);
71}
72void checkdistance() {
73  digitalWrite(triggerPin,
74  0);
75  delayMicroseconds(2);
76  digitalWrite(triggerPin, 1);
77  delayMicroseconds(10);
78
79  duration = pulseIn(echoPin, 1);
80}
81void loop() {
82  checkdistance();
83
84  distance = duration / 58.2;
85if (distance >=15.00) {
86  goesforward();
87}
88else
89  if (distance = 0) {
90  Serial.println("Please input the Ultrasonic Sound Sensor");
91}
92else
93  {
94  myservo.write(180);
95  delay(400);
96  checkdistance();
97  distancelt
98  = duration / 58.2;
99  delay(400);
100  myservo.write(90);
101  delay(400);
102
103  myservo.write(0);
104  checkdistance();
105  distancert = duration / 58.2;
106
107  delay(400);
108  myservo.write(90);
109  delay(250);
110  if (distancert >= distancelt)
111  {
112    goesbackward();
113    turnright();
114  }
115  else {
116    goesbackward();
117
118    turnleft();
119  }
120}
121}

#include <Servo.h>
Servo myservo;
int triggerPin = 11;
int echoPin
  = 7;
int revleft4 = 2;
int fwdleft5 = 4;
int revright6 = 5;
int fwdright7
  = 6;
float distance;
float duration;
float distancelt;
float distancert;
void
  setup() {
pinMode(revleft4, OUTPUT);
pinMode(fwdleft5, OUTPUT);
pinMode(revright6,
  OUTPUT);
pinMode(fwdright7, OUTPUT);
pinMode(triggerPin, OUTPUT);
pinMode(echoPin,
  INPUT);
Serial.begin(9600);
myservo.write(90);
myservo.attach(3);
}
void
  goesforward() {
  Serial.println("Going Forward");
  digitalWrite(fwdleft5,
  HIGH);
  digitalWrite(fwdright7, HIGH);
}
void goesbackward() {
  Serial.println("Going
  Backward");
  digitalWrite(revleft4, HIGH);
  digitalWrite(revright6, HIGH);

  delay(500);
  digitalWrite(revleft4, LOW);
  digitalWrite(revright6, LOW);

  Serial.println("Going Backward Stopped");
}
void turnright() {
  Serial.println("Turning
  Right");
  digitalWrite(fwdleft5, HIGH);
  digitalWrite(revright6, HIGH);

  delay(500);
  Serial.println("Turning Right Stopped");
  digitalWrite(fwdleft5,
  LOW);
  digitalWrite(revright6, LOW);
}
void turnleft() {
  Serial.println("Turning
  Left");
  digitalWrite(fwdright7, HIGH);
  digitalWrite(revright6, HIGH);

  delay(500);
  Serial.println("Turning Left Stopped");
  digitalWrite(fwdright7,
  LOW);
  digitalWrite(revright6, LOW);
}
void checkdistance() {
  digitalWrite(triggerPin,
  0);
  delayMicroseconds(2);
  digitalWrite(triggerPin, 1);
  delayMicroseconds(10);

  duration = pulseIn(echoPin, 1);
}
void loop() {
  checkdistance();

  distance = duration / 58.2;
if (distance >=15.00) {
  goesforward();
}
else
  if (distance = 0) {
  Serial.println("Please input the Ultrasonic Sound Sensor");
}
else
  {
  myservo.write(180);
  delay(400);
  checkdistance();
  distancelt
  = duration / 58.2;
  delay(400);
  myservo.write(90);
  delay(400);

  myservo.write(0);
  checkdistance();
  distancert = duration / 58.2;

  delay(400);
  myservo.write(90);
  delay(250);
  if (distancert >= distancelt)
  {
    goesbackward();
    turnright();
  }
  else {
    goesbackward();

    turnleft();
  }
}
}

Downloadable files

Obstacle Avoiding Robo

Just connect it with a battery and it avoids all obstacles and moves freely

Obstacle Avoiding Robo

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