Human Following Robot v2.0

Follow me Robot v2.0

May 30, 2021

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15616 views

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4 respects

Components and supplies

IR Transceiver (Generic)

Battery Holder, 18650 x 2

Maker Essentials - Micro-motors & Grippy Wheels

L293D motor driver Adafruit

Arduino UNO

SG90 Micro-servo motor

DC Motor, 12 V

Jumper wires (generic)

18650 cells

Ultrasonic Sensor - HC-SR04 (Generic)

Tools and machines

Hot glue gun (generic)

Multitool, Screwdriver

Apps and platforms

Arduino IDE

Project description

Code

arduino

1//https://www.youtube.com/channel/UCaXI2PcsTlH5g0et67kdD6g //
2// Human   Following Robot version 2.0 //
3// MOHD SOHAIL //
4
5#include<Servo.h>
6#include<AFMotor.h>
7#define   RIGHT A2
8#define LEFT A3
9#define trigpin A4
10#define echopin A5
11
12AF_DCMotor   Motor1(1,MOTOR12_1KHZ);
13AF_DCMotor Motor2(2,MOTOR12_1KHZ);
14AF_DCMotor Motor3(3,MOTOR34_1KHZ);
15AF_DCMotor   Motor4(4,MOTOR34_1KHZ);
16
17Servo myservo;
18 
19int pos =0;
20long time;
21
22void   setup(){
23// put your setup code here, to run once:
24Serial.begin(9600);
25myservo.attach(10);
26
27for(pos   = 90; pos <= 160; pos += 1){
28myservo.write(pos);
29delay(15);
30}
31 
32for(pos   = 160; pos >= 0; pos-= 1) {
33myservo.write(pos);
34delay(15);
35}
36
37for(pos   = 0; pos<=90; pos += 1) {
38myservo.write(pos);
39delay(15);
40}
41
42pinMode(RIGHT,   INPUT);
43pinMode(LEFT, INPUT);
44
45pinMode(trigpin, OUTPUT);
46pinMode(echopin,   INPUT);
47
48}
49
50void loop(){
51unsigned int distance = read_cm();
52
53int   Right_Value = digitalRead(RIGHT);
54int Left_Value  = digitalRead(LEFT);
55
56Serial.print("R=   ");
57Serial.print(Right_Value);
58Serial.print(" L= ");
59Serial.print(Left_Value);
60Serial.print("   D= ");
61Serial.println(distance);
62
63if((Right_Value==1) && (distance>=10   && distance<=30)&&(Left_Value==1)){forword();}
64else if((Right_Value==0) && (Left_Value==1)){turnRight();}
65else   if((Right_Value==1) && (Left_Value==0)){turnLeft();}
66else if((Right_Value==1)   && (Left_Value==1)){stop();}
67else if(distance > 6 && distance < 10){stop();}
68else   if(distance < 6){backword();}
69
70delay(50);
71}
72
73long read_cm(){
74   digitalWrite(trigpin, LOW);
75  delayMicroseconds(2);
76  digitalWrite(trigpin,   HIGH);
77  delayMicroseconds(10);
78  time = pulseIn (echopin, HIGH);
79  return   time / 29 / 2;
80}
81
82void forword(){// turn it on going forward
83Motor1.setSpeed(120);
84Motor1.run(FORWARD);
85Motor2.setSpeed(120);
86Motor2.run(FORWARD);
87Motor3.setSpeed(120);
88Motor3.run(FORWARD);
89Motor4.setSpeed(120);
90Motor4.run(FORWARD);
91}
92
93void   backword(){ // the other way
94Motor1.setSpeed(100);
95Motor1.run(BACKWARD); 
96Motor2.setSpeed(100);
97Motor2.run(BACKWARD);
98Motor3.setSpeed(100);
99Motor3.run(BACKWARD);   
100Motor4.setSpeed(100);
101Motor4.run(BACKWARD); 
102}
103
104void turnRight(){   // the other right
105Motor1.setSpeed(200);
106Motor1.run(FORWARD);
107Motor2.setSpeed(200);
108Motor2.run(FORWARD);
109Motor3.setSpeed(100);
110Motor3.run(BACKWARD);
111Motor4.setSpeed(100);
112Motor4.run(BACKWARD);
113}
114
115void   turnLeft(){ // turn it on going left
116Motor1.setSpeed(100);
117Motor1.run(BACKWARD);
118Motor2.setSpeed(100);
119Motor2.run(BACKWARD);
120Motor3.setSpeed(200);
121Motor3.run(FORWARD);
122Motor4.setSpeed(200);
123Motor4.run(FORWARD);
124}
125
126void   stop(){ // stopped
127Motor1.setSpeed(0);  
128Motor1.run(RELEASE);
129Motor2.setSpeed(0);
130Motor2.run(RELEASE);
131Motor3.setSpeed(0);
132Motor3.run(RELEASE);
133Motor4.setSpeed(0);
134Motor4.run(RELEASE);   
135}
136

//https://www.youtube.com/channel/UCaXI2PcsTlH5g0et67kdD6g //
// Human   Following Robot version 2.0 //
// MOHD SOHAIL //

#include<Servo.h>
#include<AFMotor.h>
#define   RIGHT A2
#define LEFT A3
#define trigpin A4
#define echopin A5

AF_DCMotor   Motor1(1,MOTOR12_1KHZ);
AF_DCMotor Motor2(2,MOTOR12_1KHZ);
AF_DCMotor Motor3(3,MOTOR34_1KHZ);
AF_DCMotor   Motor4(4,MOTOR34_1KHZ);

Servo myservo;
 
int pos =0;
long time;

void   setup(){
// put your setup code here, to run once:
Serial.begin(9600);
myservo.attach(10);

for(pos   = 90; pos <= 160; pos += 1){
myservo.write(pos);
delay(15);
}
 
for(pos   = 160; pos >= 0; pos-= 1) {
myservo.write(pos);
delay(15);
}

for(pos   = 0; pos<=90; pos += 1) {
myservo.write(pos);
delay(15);
}

pinMode(RIGHT,   INPUT);
pinMode(LEFT, INPUT);

pinMode(trigpin, OUTPUT);
pinMode(echopin,   INPUT);

}

void loop(){
unsigned int distance = read_cm();

int   Right_Value = digitalRead(RIGHT);
int Left_Value  = digitalRead(LEFT);

Serial.print("R=   ");
Serial.print(Right_Value);
Serial.print(" L= ");
Serial.print(Left_Value);
Serial.print("   D= ");
Serial.println(distance);

if((Right_Value==1) && (distance>=10   && distance<=30)&&(Left_Value==1)){forword();}
else if((Right_Value==0) && (Left_Value==1)){turnRight();}
else   if((Right_Value==1) && (Left_Value==0)){turnLeft();}
else if((Right_Value==1)   && (Left_Value==1)){stop();}
else if(distance > 6 && distance < 10){stop();}
else   if(distance < 6){backword();}

delay(50);
}

long read_cm(){
   digitalWrite(trigpin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin,   HIGH);
  delayMicroseconds(10);
  time = pulseIn (echopin, HIGH);
  return   time / 29 / 2;
}

void forword(){// turn it on going forward
Motor1.setSpeed(120);
Motor1.run(FORWARD);
Motor2.setSpeed(120);
Motor2.run(FORWARD);
Motor3.setSpeed(120);
Motor3.run(FORWARD);
Motor4.setSpeed(120);
Motor4.run(FORWARD);
}

void   backword(){ // the other way
Motor1.setSpeed(100);
Motor1.run(BACKWARD); 
Motor2.setSpeed(100);
Motor2.run(BACKWARD);
Motor3.setSpeed(100);
Motor3.run(BACKWARD);   
Motor4.setSpeed(100);
Motor4.run(BACKWARD); 
}

void turnRight(){   // the other right
Motor1.setSpeed(200);
Motor1.run(FORWARD);
Motor2.setSpeed(200);
Motor2.run(FORWARD);
Motor3.setSpeed(100);
Motor3.run(BACKWARD);
Motor4.setSpeed(100);
Motor4.run(BACKWARD);
}

void   turnLeft(){ // turn it on going left
Motor1.setSpeed(100);
Motor1.run(BACKWARD);
Motor2.setSpeed(100);
Motor2.run(BACKWARD);
Motor3.setSpeed(200);
Motor3.run(FORWARD);
Motor4.setSpeed(200);
Motor4.run(FORWARD);
}

void   stop(){ // stopped
Motor1.setSpeed(0);  
Motor1.run(RELEASE);
Motor2.setSpeed(0);
Motor2.run(RELEASE);
Motor3.setSpeed(0);
Motor3.run(RELEASE);
Motor4.setSpeed(0);
Motor4.run(RELEASE);   
}

Code

arduino

1//https://www.youtube.com/channel/UCaXI2PcsTlH5g0et67kdD6g //
2// Human  Following Robot version 2.0 //
3// MOHD SOHAIL //
4
5#include<Servo.h>
6#include<AFMotor.h>
7#define  RIGHT A2
8#define LEFT A3
9#define trigpin A4
10#define echopin A5
11
12AF_DCMotor  Motor1(1,MOTOR12_1KHZ);
13AF_DCMotor Motor2(2,MOTOR12_1KHZ);
14AF_DCMotor Motor3(3,MOTOR34_1KHZ);
15AF_DCMotor  Motor4(4,MOTOR34_1KHZ);
16
17Servo myservo;
18 
19int pos =0;
20long time;
21
22void  setup(){
23// put your setup code here, to run once:
24Serial.begin(9600);
25myservo.attach(10);
26
27for(pos  = 90; pos <= 160; pos += 1){
28myservo.write(pos);
29delay(15);
30}
31 
32for(pos  = 160; pos >= 0; pos-= 1) {
33myservo.write(pos);
34delay(15);
35}
36
37for(pos  = 0; pos<=90; pos += 1) {
38myservo.write(pos);
39delay(15);
40}
41
42pinMode(RIGHT,  INPUT);
43pinMode(LEFT, INPUT);
44
45pinMode(trigpin, OUTPUT);
46pinMode(echopin,  INPUT);
47
48}
49
50void loop(){
51unsigned int distance = read_cm();
52
53int  Right_Value = digitalRead(RIGHT);
54int Left_Value  = digitalRead(LEFT);
55
56Serial.print("R=  ");
57Serial.print(Right_Value);
58Serial.print(" L= ");
59Serial.print(Left_Value);
60Serial.print("  D= ");
61Serial.println(distance);
62
63if((Right_Value==1) && (distance>=10  && distance<=30)&&(Left_Value==1)){forword();}
64else if((Right_Value==0) && (Left_Value==1)){turnRight();}
65else  if((Right_Value==1) && (Left_Value==0)){turnLeft();}
66else if((Right_Value==1)  && (Left_Value==1)){stop();}
67else if(distance > 6 && distance < 10){stop();}
68else  if(distance < 6){backword();}
69
70delay(50);
71}
72
73long read_cm(){
74  digitalWrite(trigpin, LOW);
75  delayMicroseconds(2);
76  digitalWrite(trigpin,  HIGH);
77  delayMicroseconds(10);
78  time = pulseIn (echopin, HIGH);
79  return  time / 29 / 2;
80}
81
82void forword(){// turn it on going forward
83Motor1.setSpeed(120);
84Motor1.run(FORWARD);
85Motor2.setSpeed(120);
86Motor2.run(FORWARD);
87Motor3.setSpeed(120);
88Motor3.run(FORWARD);
89Motor4.setSpeed(120);
90Motor4.run(FORWARD);
91}
92
93void  backword(){ // the other way
94Motor1.setSpeed(100);
95Motor1.run(BACKWARD); 
96Motor2.setSpeed(100);
97Motor2.run(BACKWARD);
98Motor3.setSpeed(100);
99Motor3.run(BACKWARD);  
100Motor4.setSpeed(100);
101Motor4.run(BACKWARD); 
102}
103
104void turnRight(){  // the other right
105Motor1.setSpeed(200);
106Motor1.run(FORWARD);
107Motor2.setSpeed(200);
108Motor2.run(FORWARD);
109Motor3.setSpeed(100);
110Motor3.run(BACKWARD);
111Motor4.setSpeed(100);
112Motor4.run(BACKWARD);
113}
114
115void  turnLeft(){ // turn it on going left
116Motor1.setSpeed(100);
117Motor1.run(BACKWARD);
118Motor2.setSpeed(100);
119Motor2.run(BACKWARD);
120Motor3.setSpeed(200);
121Motor3.run(FORWARD);
122Motor4.setSpeed(200);
123Motor4.run(FORWARD);
124}
125
126void  stop(){ // stopped
127Motor1.setSpeed(0);  
128Motor1.run(RELEASE);
129Motor2.setSpeed(0);
130Motor2.run(RELEASE);
131Motor3.setSpeed(0);
132Motor3.run(RELEASE);
133Motor4.setSpeed(0);
134Motor4.run(RELEASE);  
135}
136

//https://www.youtube.com/channel/UCaXI2PcsTlH5g0et67kdD6g //
// Human  Following Robot version 2.0 //
// MOHD SOHAIL //

#include<Servo.h>
#include<AFMotor.h>
#define  RIGHT A2
#define LEFT A3
#define trigpin A4
#define echopin A5

AF_DCMotor  Motor1(1,MOTOR12_1KHZ);
AF_DCMotor Motor2(2,MOTOR12_1KHZ);
AF_DCMotor Motor3(3,MOTOR34_1KHZ);
AF_DCMotor  Motor4(4,MOTOR34_1KHZ);

Servo myservo;
 
int pos =0;
long time;

void  setup(){
// put your setup code here, to run once:
Serial.begin(9600);
myservo.attach(10);

for(pos  = 90; pos <= 160; pos += 1){
myservo.write(pos);
delay(15);
}
 
for(pos  = 160; pos >= 0; pos-= 1) {
myservo.write(pos);
delay(15);
}

for(pos  = 0; pos<=90; pos += 1) {
myservo.write(pos);
delay(15);
}

pinMode(RIGHT,  INPUT);
pinMode(LEFT, INPUT);

pinMode(trigpin, OUTPUT);
pinMode(echopin,  INPUT);

}

void loop(){
unsigned int distance = read_cm();

int  Right_Value = digitalRead(RIGHT);
int Left_Value  = digitalRead(LEFT);

Serial.print("R=  ");
Serial.print(Right_Value);
Serial.print(" L= ");
Serial.print(Left_Value);
Serial.print("  D= ");
Serial.println(distance);

if((Right_Value==1) && (distance>=10  && distance<=30)&&(Left_Value==1)){forword();}
else if((Right_Value==0) && (Left_Value==1)){turnRight();}
else  if((Right_Value==1) && (Left_Value==0)){turnLeft();}
else if((Right_Value==1)  && (Left_Value==1)){stop();}
else if(distance > 6 && distance < 10){stop();}
else  if(distance < 6){backword();}

delay(50);
}

long read_cm(){
  digitalWrite(trigpin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin,  HIGH);
  delayMicroseconds(10);
  time = pulseIn (echopin, HIGH);
  return  time / 29 / 2;
}

void forword(){// turn it on going forward
Motor1.setSpeed(120);
Motor1.run(FORWARD);
Motor2.setSpeed(120);
Motor2.run(FORWARD);
Motor3.setSpeed(120);
Motor3.run(FORWARD);
Motor4.setSpeed(120);
Motor4.run(FORWARD);
}

void  backword(){ // the other way
Motor1.setSpeed(100);
Motor1.run(BACKWARD); 
Motor2.setSpeed(100);
Motor2.run(BACKWARD);
Motor3.setSpeed(100);
Motor3.run(BACKWARD);  
Motor4.setSpeed(100);
Motor4.run(BACKWARD); 
}

void turnRight(){  // the other right
Motor1.setSpeed(200);
Motor1.run(FORWARD);
Motor2.setSpeed(200);
Motor2.run(FORWARD);
Motor3.setSpeed(100);
Motor3.run(BACKWARD);
Motor4.setSpeed(100);
Motor4.run(BACKWARD);
}

void  turnLeft(){ // turn it on going left
Motor1.setSpeed(100);
Motor1.run(BACKWARD);
Motor2.setSpeed(100);
Motor2.run(BACKWARD);
Motor3.setSpeed(200);
Motor3.run(FORWARD);
Motor4.setSpeed(200);
Motor4.run(FORWARD);
}

void  stop(){ // stopped
Motor1.setSpeed(0);  
Motor1.run(RELEASE);
Motor2.setSpeed(0);
Motor2.run(RELEASE);
Motor3.setSpeed(0);
Motor3.run(RELEASE);
Motor4.setSpeed(0);
Motor4.run(RELEASE);  
}

Downloadable files

Circuit Diagram

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