Maze Solving Bot

1const int trigPin1 = 6;//front
2const int echoPin1 = 7;
3const int
4  trigPin2 = 10; //left
5const int echoPin2 = 11;
6const int trigPin3 = 8;//right
7const
8  int echoPin3 = 9;
9const int in1 = 2;
10const int in2 = 3;
11const int in3 =
12  4;
13const int in4 = 5;
14
15#define DIS 7
16
17void setup()
18{
19pinMode(trigPin1,
20  OUTPUT);
21pinMode(echoPin1, INPUT);
22pinMode(trigPin2, OUTPUT);
23pinMode(echoPin2,
24  INPUT);
25pinMode(trigPin3, OUTPUT);
26pinMode(echoPin3, INPUT);
27pinMode (in1,
28  OUTPUT);
29pinMode (in2, OUTPUT);
30pinMode (in3, OUTPUT);
31pinMode (in4, OUTPUT);
32
33}
34void
35  loop()
36{
37  if (FrontSensor ()>DIS && RightSensor () >DIS && LeftSensor ()
38  >DIS)
39  {forward();}
40 //else if ( FrontSensor () > DIS && RightSensor () <
41  DIS && LeftSensor ()< DIS)
42//{
43  //forward();  
44//}
45else if ( FrontSensor()
46  < DIS && RightSensor () <DIS && LeftSensor ()<DIS) // obstacle infront of all 3
47  sides
48{
49reverse ();
50delay(500);
51if((LeftSensor())>(RightSensor()) )
52turn_left();
53else
54turn_right();
55//then
56  reverse
57}
58else if (FrontSensor() <DIS && RightSensor () <DIS && LeftSensor
59  ()>DIS) // obstacle on right and front sides
60{
61turn_left (); // turn left
62  side
63}
64else if (FrontSensor() <DIS && RightSensor () >DIS && LeftSensor ()<DIS)
65  // obstacle on left and front sides
66{
67turn_right (); // turn right side
68}
69else
70  if (FrontSensor() <DIS && RightSensor () >DIS && LeftSensor ()>DIS) // obstacle
71  on front sides
72{
73turn_left (); 
74delay(500);
75forward();// then turn right
76  //********************
77}
78else if (FrontSensor() >DIS && RightSensor () >DIS
79  && LeftSensor ()<DIS) // obstacle on left sides
80{
81turn_right(); // then turn
82  right and then forward
83delay(500);
84forward();
85}
86else if (FrontSensor()
87  >DIS && RightSensor () <DIS && LeftSensor ()>DIS) // obstacle on right sides
88{
89turn_left
90  (); // then turn left and then right
91delay(500);
92forward();
93}
94else
95{
96forward();
97}
98}
99void
100  forward ()
101{
102digitalWrite(in1, HIGH);
103digitalWrite(in2, LOW);
104digitalWrite(in3,
105  HIGH);
106digitalWrite(in4, LOW);
107}
108void turn_left ()
109{
110digitalWrite(in1,
111  HIGH);
112digitalWrite(in2, LOW);
113digitalWrite(in3, LOW);
114digitalWrite(in4,
115  HIGH);
116
117}
118void turn_right ()
119{
120digitalWrite(in1, LOW);
121digitalWrite(in2,
122  HIGH);
123digitalWrite(in3, HIGH);
124digitalWrite(in4, LOW);
125
126}
127void reverse
128  ()
129{
130digitalWrite(in1, LOW);
131digitalWrite(in2, HIGH);
132digitalWrite(in3,
133  LOW);
134digitalWrite(in4, HIGH);
135
136}
137void stop()
138{
139digitalWrite(in1,
140  LOW);
141digitalWrite(in2, LOW);
142digitalWrite(in3, LOW);
143digitalWrite(in4,
144  LOW);
145
146}
147long FrontSensor ()
148{
149long dur;
150digitalWrite(trigPin1,
151  LOW);
152delayMicroseconds(2); // delays are required for a succesful sensor operation.
153digitalWrite(trigPin1,
154  HIGH);
155delayMicroseconds(10); //this delay is required as well!
156digitalWrite(trigPin1,
157  LOW);
158dur = pulseIn(echoPin1, HIGH);
159return (dur/58);// convert the distance
160  to centimeters.
161}
162
163long RightSensor ()
164{
165long dur;
166digitalWrite(trigPin2,
167  LOW);
168delayMicroseconds(2); // delays are required for a succesful sensor operation.
169digitalWrite(trigPin2,
170  HIGH);
171delayMicroseconds(10); //this delay is required as well!
172digitalWrite(trigPin2,
173  LOW);
174dur = pulseIn(echoPin2, HIGH);
175return (dur/58);// convert the distance
176  to centimeters.
177}
178long LeftSensor ()
179{
180long dur;
181digitalWrite(trigPin3,
182  LOW);
183delayMicroseconds(2); // delays are required for a succesful sensor operation.
184digitalWrite(trigPin3,
185  HIGH);
186delayMicroseconds(10); //this delay is required as well!
187digitalWrite(trigPin3,
188  LOW);
189dur = pulseIn(echoPin3, HIGH);
190return (dur/58);// convert the distance
191  to centimeters.
192}

1const int trigPin1 = 6;//front
2const int echoPin1 = 7;
3const int  trigPin2 = 10; //left
4const int echoPin2 = 11;
5const int trigPin3 = 8;//right
6const  int echoPin3 = 9;
7const int in1 = 2;
8const int in2 = 3;
9const int in3 =  4;
10const int in4 = 5;
11
12#define DIS 7
13
14void setup()
15{
16pinMode(trigPin1,  OUTPUT);
17pinMode(echoPin1, INPUT);
18pinMode(trigPin2, OUTPUT);
19pinMode(echoPin2,  INPUT);
20pinMode(trigPin3, OUTPUT);
21pinMode(echoPin3, INPUT);
22pinMode (in1,  OUTPUT);
23pinMode (in2, OUTPUT);
24pinMode (in3, OUTPUT);
25pinMode (in4, OUTPUT);
26
27}
28void  loop()
29{
30  if (FrontSensor ()>DIS && RightSensor () >DIS && LeftSensor ()  >DIS)
31  {forward();}
32 //else if ( FrontSensor () > DIS && RightSensor () <  DIS && LeftSensor ()< DIS)
33//{
34  //forward();  
35//}
36else if ( FrontSensor()  < DIS && RightSensor () <DIS && LeftSensor ()<DIS) // obstacle infront of all 3  sides
37{
38reverse ();
39delay(500);
40if((LeftSensor())>(RightSensor()) )
41turn_left();
42else
43turn_right();
44//then  reverse
45}
46else if (FrontSensor() <DIS && RightSensor () <DIS && LeftSensor  ()>DIS) // obstacle on right and front sides
47{
48turn_left (); // turn left  side
49}
50else if (FrontSensor() <DIS && RightSensor () >DIS && LeftSensor ()<DIS)  // obstacle on left and front sides
51{
52turn_right (); // turn right side
53}
54else  if (FrontSensor() <DIS && RightSensor () >DIS && LeftSensor ()>DIS) // obstacle  on front sides
55{
56turn_left (); 
57delay(500);
58forward();// then turn right  //********************
59}
60else if (FrontSensor() >DIS && RightSensor () >DIS  && LeftSensor ()<DIS) // obstacle on left sides
61{
62turn_right(); // then turn  right and then forward
63delay(500);
64forward();
65}
66else if (FrontSensor()  >DIS && RightSensor () <DIS && LeftSensor ()>DIS) // obstacle on right sides
67{
68turn_left  (); // then turn left and then right
69delay(500);
70forward();
71}
72else
73{
74forward();
75}
76}
77void  forward ()
78{
79digitalWrite(in1, HIGH);
80digitalWrite(in2, LOW);
81digitalWrite(in3,  HIGH);
82digitalWrite(in4, LOW);
83}
84void turn_left ()
85{
86digitalWrite(in1,  HIGH);
87digitalWrite(in2, LOW);
88digitalWrite(in3, LOW);
89digitalWrite(in4,  HIGH);
90
91}
92void turn_right ()
93{
94digitalWrite(in1, LOW);
95digitalWrite(in2,  HIGH);
96digitalWrite(in3, HIGH);
97digitalWrite(in4, LOW);
98
99}
100void reverse  ()
101{
102digitalWrite(in1, LOW);
103digitalWrite(in2, HIGH);
104digitalWrite(in3,  LOW);
105digitalWrite(in4, HIGH);
106
107}
108void stop()
109{
110digitalWrite(in1,  LOW);
111digitalWrite(in2, LOW);
112digitalWrite(in3, LOW);
113digitalWrite(in4,  LOW);
114
115}
116long FrontSensor ()
117{
118long dur;
119digitalWrite(trigPin1,  LOW);
120delayMicroseconds(2); // delays are required for a succesful sensor operation.
121digitalWrite(trigPin1,  HIGH);
122delayMicroseconds(10); //this delay is required as well!
123digitalWrite(trigPin1,  LOW);
124dur = pulseIn(echoPin1, HIGH);
125return (dur/58);// convert the distance  to centimeters.
126}
127
128long RightSensor ()
129{
130long dur;
131digitalWrite(trigPin2,  LOW);
132delayMicroseconds(2); // delays are required for a succesful sensor operation.
133digitalWrite(trigPin2,  HIGH);
134delayMicroseconds(10); //this delay is required as well!
135digitalWrite(trigPin2,  LOW);
136dur = pulseIn(echoPin2, HIGH);
137return (dur/58);// convert the distance  to centimeters.
138}
139long LeftSensor ()
140{
141long dur;
142digitalWrite(trigPin3,  LOW);
143delayMicroseconds(2); // delays are required for a succesful sensor operation.
144digitalWrite(trigPin3,  HIGH);
145delayMicroseconds(10); //this delay is required as well!
146digitalWrite(trigPin3,  LOW);
147dur = pulseIn(echoPin3, HIGH);
148return (dur/58);// convert the distance  to centimeters.
149}