Object Following Robot

This robot tracks and follows an object withing a linear proximity of 50 cm and 120° spherical proximity of about 5cm to 10cm.

Aug 4, 2021

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9740 views

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7 respects

environmental sensing

Components and supplies

Proximity Sensor

SG90 Micro-servo motor

Jumper wires (generic)

Dual H-Bridge motor drivers L298

SparkFun Breadboard Power Supply 5V/3.3V

Arduino UNO

Ultrasonic Sensor - HC-SR04 (Generic)

DC motor (generic)

Tools and machines

Hot glue gun (generic)

Soldering iron (generic)

Apps and platforms

Arduino IDE

Project description

Code

Arduino Code

arduino

The procedures (functions) left(), right(), forwards() and backwards() can be changed according to your connections and components. You can also swap in1, in2, in3 and in4 pins.

1const int in1 = 2;
2const int in2 = 3;
3const int in3 = 4;
4const   int in4 = 5;
5const int L = 6;
6const int U = 7;
7const int R = 8;
8const   int D = 9;
9
10int di;
11
12int posY = 90;
13#include <Servo.h>
14#include   <NewPing.h>
15
16#define T 13
17#define E 12
18#define MD 50
19
20NewPing   sonar(T, E, MD);
21Servo Y;
22
23void setup()
24{
25  pinMode(in1, OUTPUT);
26   pinMode(in2, OUTPUT);
27  pinMode(in3, OUTPUT);
28  pinMode(in4, OUTPUT);
29   pinMode(L, INPUT);
30  pinMode(U, INPUT);
31  pinMode(R, INPUT);
32  pinMode(D,   INPUT);
33  Y.attach(10);
34}
35
36void left() {
37  digitalWrite(in1, LOW);
38   digitalWrite(in2, HIGH);
39  digitalWrite(in3, LOW);
40  digitalWrite(in4, HIGH);
41}
42void   right() {
43  digitalWrite(in1, HIGH);
44  digitalWrite(in2, LOW);
45  digitalWrite(in3,   HIGH);
46  digitalWrite(in4, LOW);
47}
48void forwards() {
49  digitalWrite(in1,   LOW);
50  digitalWrite(in2, HIGH);
51  digitalWrite(in3, HIGH);
52  digitalWrite(in4,   LOW);
53}
54void OFF() {
55  digitalWrite(in1, LOW);
56  digitalWrite(in2, LOW);
57   digitalWrite(in3, LOW);
58  digitalWrite(in4, LOW);
59}
60void Distance() {
61   di = sonar.ping_cm();
62
63  if(di >= 10 && di <= 50) {
64    forwards();
65   }
66  else {
67    OFF();
68  }
69}
70
71void loop()
72{ 
73  if(digitalRead(U)   == 1 && digitalRead(D) == 0)
74  {
75    while(digitalRead(U) != 0 && digitalRead(D)   != 1)
76    {
77      if(posY == 50)
78      {break;}
79      posY--;
80      Y.write(posY);
81       delay(3);
82    }
83  }
84  else if(digitalRead(U) == 0 && digitalRead(D)   == 1)
85  {
86    while(digitalRead(U) != 1 && digitalRead(D) != 0)
87    {
88       if(posY == 160)
89      {break;}
90      posY++;
91      Y.write(posY);
92       delay(3);
93    }
94  }
95
96  if(digitalRead(L) == 0 && digitalRead(R)   == 1) {
97    left();
98  }
99  else if(digitalRead(L) == 1 && digitalRead(R)   == 0) {
100    right();
101  }
102  else {
103    Distance();  
104  }
105}

const int in1 = 2;
const int in2 = 3;
const int in3 = 4;
const   int in4 = 5;
const int L = 6;
const int U = 7;
const int R = 8;
const   int D = 9;

int di;

int posY = 90;
#include <Servo.h>
#include   <NewPing.h>

#define T 13
#define E 12
#define MD 50

NewPing   sonar(T, E, MD);
Servo Y;

void setup()
{
  pinMode(in1, OUTPUT);
   pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
   pinMode(L, INPUT);
  pinMode(U, INPUT);
  pinMode(R, INPUT);
  pinMode(D,   INPUT);
  Y.attach(10);
}

void left() {
  digitalWrite(in1, LOW);
   digitalWrite(in2, HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
}
void   right() {
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3,   HIGH);
  digitalWrite(in4, LOW);
}
void forwards() {
  digitalWrite(in1,   LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, HIGH);
  digitalWrite(in4,   LOW);
}
void OFF() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
   digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}
void Distance() {
   di = sonar.ping_cm();

  if(di >= 10 && di <= 50) {
    forwards();
   }
  else {
    OFF();
  }
}

void loop()
{ 
  if(digitalRead(U)   == 1 && digitalRead(D) == 0)
  {
    while(digitalRead(U) != 0 && digitalRead(D)   != 1)
    {
      if(posY == 50)
      {break;}
      posY--;
      Y.write(posY);
       delay(3);
    }
  }
  else if(digitalRead(U) == 0 && digitalRead(D)   == 1)
  {
    while(digitalRead(U) != 1 && digitalRead(D) != 0)
    {
       if(posY == 160)
      {break;}
      posY++;
      Y.write(posY);
       delay(3);
    }
  }

  if(digitalRead(L) == 0 && digitalRead(R)   == 1) {
    left();
  }
  else if(digitalRead(L) == 1 && digitalRead(R)   == 0) {
    right();
  }
  else {
    Distance();  
  }
}

Arduino Code

arduino

The procedures (functions) left(), right(), forwards() and backwards() can be changed according to your connections and components. You can also swap in1, in2, in3 and in4 pins.

1const int in1 = 2;
2const int in2 = 3;
3const int in3 = 4;
4const  int in4 = 5;
5const int L = 6;
6const int U = 7;
7const int R = 8;
8const  int D = 9;
9
10int di;
11
12int posY = 90;
13#include <Servo.h>
14#include  <NewPing.h>
15
16#define T 13
17#define E 12
18#define MD 50
19
20NewPing  sonar(T, E, MD);
21Servo Y;
22
23void setup()
24{
25  pinMode(in1, OUTPUT);
26  pinMode(in2, OUTPUT);
27  pinMode(in3, OUTPUT);
28  pinMode(in4, OUTPUT);
29  pinMode(L, INPUT);
30  pinMode(U, INPUT);
31  pinMode(R, INPUT);
32  pinMode(D,  INPUT);
33  Y.attach(10);
34}
35
36void left() {
37  digitalWrite(in1, LOW);
38  digitalWrite(in2, HIGH);
39  digitalWrite(in3, LOW);
40  digitalWrite(in4, HIGH);
41}
42void  right() {
43  digitalWrite(in1, HIGH);
44  digitalWrite(in2, LOW);
45  digitalWrite(in3,  HIGH);
46  digitalWrite(in4, LOW);
47}
48void forwards() {
49  digitalWrite(in1,  LOW);
50  digitalWrite(in2, HIGH);
51  digitalWrite(in3, HIGH);
52  digitalWrite(in4,  LOW);
53}
54void OFF() {
55  digitalWrite(in1, LOW);
56  digitalWrite(in2, LOW);
57  digitalWrite(in3, LOW);
58  digitalWrite(in4, LOW);
59}
60void Distance() {
61  di = sonar.ping_cm();
62
63  if(di >= 10 && di <= 50) {
64    forwards();
65  }
66  else {
67    OFF();
68  }
69}
70
71void loop()
72{ 
73  if(digitalRead(U)  == 1 && digitalRead(D) == 0)
74  {
75    while(digitalRead(U) != 0 && digitalRead(D)  != 1)
76    {
77      if(posY == 50)
78      {break;}
79      posY--;
80      Y.write(posY);
81      delay(3);
82    }
83  }
84  else if(digitalRead(U) == 0 && digitalRead(D)  == 1)
85  {
86    while(digitalRead(U) != 1 && digitalRead(D) != 0)
87    {
88      if(posY == 160)
89      {break;}
90      posY++;
91      Y.write(posY);
92      delay(3);
93    }
94  }
95
96  if(digitalRead(L) == 0 && digitalRead(R)  == 1) {
97    left();
98  }
99  else if(digitalRead(L) == 1 && digitalRead(R)  == 0) {
100    right();
101  }
102  else {
103    Distance();  
104  }
105}

const int in1 = 2;
const int in2 = 3;
const int in3 = 4;
const  int in4 = 5;
const int L = 6;
const int U = 7;
const int R = 8;
const  int D = 9;

int di;

int posY = 90;
#include <Servo.h>
#include  <NewPing.h>

#define T 13
#define E 12
#define MD 50

NewPing  sonar(T, E, MD);
Servo Y;

void setup()
{
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(L, INPUT);
  pinMode(U, INPUT);
  pinMode(R, INPUT);
  pinMode(D,  INPUT);
  Y.attach(10);
}

void left() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
}
void  right() {
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3,  HIGH);
  digitalWrite(in4, LOW);
}
void forwards() {
  digitalWrite(in1,  LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, HIGH);
  digitalWrite(in4,  LOW);
}
void OFF() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}
void Distance() {
  di = sonar.ping_cm();

  if(di >= 10 && di <= 50) {
    forwards();
  }
  else {
    OFF();
  }
}

void loop()
{ 
  if(digitalRead(U)  == 1 && digitalRead(D) == 0)
  {
    while(digitalRead(U) != 0 && digitalRead(D)  != 1)
    {
      if(posY == 50)
      {break;}
      posY--;
      Y.write(posY);
      delay(3);
    }
  }
  else if(digitalRead(U) == 0 && digitalRead(D)  == 1)
  {
    while(digitalRead(U) != 1 && digitalRead(D) != 0)
    {
      if(posY == 160)
      {break;}
      posY++;
      Y.write(posY);
      delay(3);
    }
  }

  if(digitalRead(L) == 0 && digitalRead(R)  == 1) {
    left();
  }
  else if(digitalRead(L) == 1 && digitalRead(R)  == 0) {
    right();
  }
  else {
    Distance();  
  }
}

Downloadable files

Connection Diagram

Connection Diagram Fritzing File

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