4 wheeled obstacle avoiding car

School project, code may require some changes with timing for driving/steering when an obstacle is detected.

Feb 6, 2021

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work required

car

Components and supplies

Arduino UNO

Ultrasonic Sensor - HC-SR04 (Generic)

DC Motor, Miniature

SG90 Micro-servo motor

L293 Motor Shield

Project description

Code

Full code

arduino

Install the libraries and it should work. You can tweak around with timing to.

1#include <Servo.h>
2
3#include <NewPing.h>
4
5#include <AFMotor.h>
6
7Servo  my_servo;
8
9 
10int trigPin = A0;    // Trigger
11int echoPin = A1;    //  Echo
12long duration, cm, inches;
13AF_DCMotor motor(2, MOTOR12_64KHZ);
14
15
16  
17void setup() {
18  Serial.begin (9600);
19  my_servo.attach(9);
20  //Define  inputs and outputs
21  pinMode(trigPin, OUTPUT);
22  pinMode(echoPin, INPUT);
23  motor.setSpeed(200);
24}
25 
26void loop() {
27//servo
28my_servo.write(0);
29//ultrasoon
30  digitalWrite(trigPin, LOW);
31  delayMicroseconds(5);
32  digitalWrite(trigPin,  HIGH);
33  delayMicroseconds(10);
34  digitalWrite(trigPin, LOW);
35
36  pinMode(echoPin,  INPUT);
37  duration = pulseIn(echoPin, HIGH);
38 
39  // Convert the time into  a distance
40  cm = (duration/2) / 29.1;     // Divide by 29.1 or multiply by 0.0343
41  if(cm <= 10)
42  {
43  motor.run(RELEASE);
44  Serial.print(cm);
45  Serial.print("cm");
46  Serial.println();
47  my_servo.write(180);
48  motor.run(BACKWARD);
49  delay(3000);
50  my_servo.write(0);
51  motor.run(FORWARD);
52  delay(100);
53  }
54 else
55  {
56motor.run(FORWARD);
57delay(100);
58 }
59 }
60  
61

#include <Servo.h>

#include <NewPing.h>

#include <AFMotor.h>

Servo  my_servo;

 
int trigPin = A0;    // Trigger
int echoPin = A1;    //  Echo
long duration, cm, inches;
AF_DCMotor motor(2, MOTOR12_64KHZ);


  
void setup() {
  Serial.begin (9600);
  my_servo.attach(9);
  //Define  inputs and outputs
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  motor.setSpeed(200);
}
 
void loop() {
//servo
my_servo.write(0);
//ultrasoon
  digitalWrite(trigPin, LOW);
  delayMicroseconds(5);
  digitalWrite(trigPin,  HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  pinMode(echoPin,  INPUT);
  duration = pulseIn(echoPin, HIGH);
 
  // Convert the time into  a distance
  cm = (duration/2) / 29.1;     // Divide by 29.1 or multiply by 0.0343
  if(cm <= 10)
  {
  motor.run(RELEASE);
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();
  my_servo.write(180);
  motor.run(BACKWARD);
  delay(3000);
  my_servo.write(0);
  motor.run(FORWARD);
  delay(100);
  }
 else
  {
motor.run(FORWARD);
delay(100);
 }
 }

Full code

arduino

Install the libraries and it should work. You can tweak around with timing to.

1#include <Servo.h>
2
3#include <NewPing.h>
4
5#include <AFMotor.h>
6
7Servo   my_servo;
8
9 
10int trigPin = A0;    // Trigger
11int echoPin = A1;    //   Echo
12long duration, cm, inches;
13AF_DCMotor motor(2, MOTOR12_64KHZ);
14
15
16   
17void setup() {
18  Serial.begin (9600);
19  my_servo.attach(9);
20  //Define   inputs and outputs
21  pinMode(trigPin, OUTPUT);
22  pinMode(echoPin, INPUT);
23   motor.setSpeed(200);
24}
25 
26void loop() {
27//servo
28my_servo.write(0);
29//ultrasoon
30   digitalWrite(trigPin, LOW);
31  delayMicroseconds(5);
32  digitalWrite(trigPin,   HIGH);
33  delayMicroseconds(10);
34  digitalWrite(trigPin, LOW);
35
36  pinMode(echoPin,   INPUT);
37  duration = pulseIn(echoPin, HIGH);
38 
39  // Convert the time into   a distance
40  cm = (duration/2) / 29.1;     // Divide by 29.1 or multiply by 0.0343
41   if(cm <= 10)
42  {
43  motor.run(RELEASE);
44  Serial.print(cm);
45  Serial.print("cm");
46   Serial.println();
47  my_servo.write(180);
48  motor.run(BACKWARD);
49  delay(3000);
50   my_servo.write(0);
51  motor.run(FORWARD);
52  delay(100);
53  }
54 else
55   {
56motor.run(FORWARD);
57delay(100);
58 }
59 }
60  
61

#include <Servo.h>

#include <NewPing.h>

#include <AFMotor.h>

Servo   my_servo;

 
int trigPin = A0;    // Trigger
int echoPin = A1;    //   Echo
long duration, cm, inches;
AF_DCMotor motor(2, MOTOR12_64KHZ);


   
void setup() {
  Serial.begin (9600);
  my_servo.attach(9);
  //Define   inputs and outputs
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
   motor.setSpeed(200);
}
 
void loop() {
//servo
my_servo.write(0);
//ultrasoon
   digitalWrite(trigPin, LOW);
  delayMicroseconds(5);
  digitalWrite(trigPin,   HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  pinMode(echoPin,   INPUT);
  duration = pulseIn(echoPin, HIGH);
 
  // Convert the time into   a distance
  cm = (duration/2) / 29.1;     // Divide by 29.1 or multiply by 0.0343
   if(cm <= 10)
  {
  motor.run(RELEASE);
  Serial.print(cm);
  Serial.print("cm");
   Serial.println();
  my_servo.write(180);
  motor.run(BACKWARD);
  delay(3000);
   my_servo.write(0);
  motor.run(FORWARD);
  delay(100);
  }
 else
   {
motor.run(FORWARD);
delay(100);
 }
 }

Downloadable files

how to connect sro4

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