Human Detection Robotics System Using Arduino Uno

This System design a mobile rescue robotic Vehicle system based on Arduino to help the people on time which are trapped in natural calamity

Jul 9, 2020

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ultrasonic distance sensor

Components and supplies

9V battery (generic)

PIR Sensor, 7 m

Arduino UNO

Jumper wires (generic)

SG90 Micro-servo motor

DHT11 Temperature & Humidity Sensor (4 pins)

Ultrasonic Sensor - HC-SR04 (Generic)

Development Board, Motor Control Shield

DC Motor, 12 V

Tools and machines

Solder Wire, Lead Free

Solder Flux, Soldering

Multitool, Screwdriver

Soldering iron (generic)

Hot glue gun (generic)

Apps and platforms

Control Center Android App

Arduino IDE

Windows 10

Project description

Code

Human Detection.ino

arduino

1#include <NewPing.h> // 
2#include <AFMotor.h> // You can download the   code library below
3#include <Servo.h> //
4 
5// Ultranic Pin Configuration
6   
7#define TRIG_PIN A0
8#define ECHO_PIN A1
9 
10#define MAX_DISTANCE 400
11#define   MAX_SPEED 255
12#define MAX_SPEED_OFFSET -8
13 
14#define COLL_DIST 20
15#define   TURN_DIST COLL_DIST+10
16#define ACT_TIME 250
17 int calibrationTime = 30;        
18
19//the   time when the sensor outputs a low impulse
20long unsigned int lowIn;         
21
22//the   amount of milliseconds the sensor has to be low 
23//before we assume all motion   has stopped
24long unsigned int pause = 5000;  
25
26boolean lockLow = true;
27boolean   takeLowTime;  
28
29int pirPin = A3;    //the digital pin connected to the PIR   sensor's output
30int ledPin = A2;
31NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);   
32 
33AF_DCMotor motorR(1, MOTOR12_1KHZ); // Set motor #1, 1kHz PWM
34AF_DCMotor   motorL(4, MOTOR12_1KHZ); // Set motor #2, 1kHz PWM
35 
36Servo myservo;  // Set   servo object to control a servo 
37String motorSet = "";
38 
39int curDist   = 0, pos, speedSet = 0;
40//int pos;
41//int speedSet = 0;
42 
43void setup()   {
44  Serial.begin(9600);
45  pinMode(pirPin, INPUT);
46  pinMode(ledPin, OUTPUT);
47   digitalWrite(pirPin, LOW);
48
49  //give the sensor some time to calibrate
50   Serial.print("calibrating sensor ");
51    for(int i = 0; i < calibrationTime;   i++){
52      Serial.print(".");
53      delay(1000);
54      }
55    Serial.println("   done");
56    Serial.println("SENSOR ACTIVE");
57    delay(50);
58  myservo.attach(9);   // Set to attach the servo on pin 9 
59  myservo.write(90);  // Write 90 to face   servo forward
60  delay(2000);
61 
62  motorSet = "FORWARD";
63  moveForward();
64   
65}
66 
67void loop() {
68  
69  checkPath();
70  if(digitalRead(pirPin)   == HIGH){
71       digitalWrite(ledPin, HIGH);   //the led visualizes the sensors   output pin state
72       if(lockLow){  
73         //makes sure we wait for a   transition to LOW before any further output is made:
74         lockLow = false;             
75         Serial.println("---");
76         Serial.print("motion   detected at ");
77         Serial.print(millis()/1000);
78         Serial.println("   sec"); 
79         delay(50);
80         }         
81         takeLowTime =   true;
82       }
83
84     if(digitalRead(pirPin) == LOW){       
85       digitalWrite(ledPin,   LOW);  //the led visualizes the sensors output pin state
86
87       if(takeLowTime){
88         lowIn = millis();          //save the time of the transition from high to   LOW
89        takeLowTime = false;       //make sure this is only done at the start   of a LOW phase
90        }
91       //if the sensor is low for more than the given   pause, 
92       //we assume that no more motion is going to happen
93       if(!lockLow   && millis() - lowIn > pause){  
94           //makes sure this block of code is   only executed again after 
95           //a new motion sequence has been detected
96            lockLow = true;                        
97           Serial.print("motion   ended at ");      //output
98           Serial.print((millis() - pause)/1000);
99            Serial.println(" sec");
100           delay(50);
101           }
102        }
103  
104}
105 
106void checkPath() {
107  
108  int curLeft = 0; int curRight   = 0; int curFront = 0;
109  curDist = 0;
110  
111  checkForward();
112  myservo.write(135);
113   delay(100);
114  for (pos = 135; pos >= 45; pos -= 45) {
115    myservo.write(pos);
116     delay(170);
117    curDist = readPing();
118    
119    if (curDist < COLL_DIST)   { checkCourse(); break; }
120    if (curDist < TURN_DIST) { changePath(); } 
121   
122  }    
123}  
124 
125int readPing() {
126  int cm = 0;
127  while (cm <   2) {int uS = sonar.ping(); cm = uS/US_ROUNDTRIP_CM;}
128  return cm;
129}
130 
131void   checkForward() { 
132  if (motorSet=="FORWARD") { motorR.run(FORWARD); motorL.run(FORWARD);   } 
133}    
134void changePath() {
135 
136  if (pos < 90) { veerLeft(); } 
137   if (pos > 90) { veerRight(); }
138  
139}
140 
141void veerRight() {
142  motorR.run(BACKWARD);   motorL.run(FORWARD); 
143  delay(ACT_TIME); 
144  motorR.run(FORWARD);   motorL.run(FORWARD);
145   motorSet = "FORWARD";
146}
147 
148void veerLeft() {
149  motorL.run(BACKWARD);   motorR.run(FORWARD); 
150  delay(ACT_TIME); 
151  motorL.run(FORWARD);   motorR.run(FORWARD);
152   motorSet = "FORWARD";
153}
154 
155void checkCourse() {
156  moveBackward();
157   delay(ACT_TIME);
158  moveStop();
159  setCourse();
160}
161 
162void setCourse()   {
163  if (pos < 90) { turnRight(); } 
164  if (pos > 90) { turnLeft(); }
165}
166   
167void moveBackward() {
168  motorSet = "BACKWARD";
169  
170  motorR.run(BACKWARD);   // Turn right motor backward    
171  motorL.run(BACKWARD);  // Turn left motor   backward
172  
173  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
174  {
175     motorL.setSpeed(speedSet);
176    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
177     delay(5);
178  }
179}  
180 
181void moveForward() {
182  motorSet = "FORWARD";
183   checkForward();
184  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)  {
185     motorL.setSpeed(speedSet);
186    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
187     delay(4);
188  }
189}
190 
191void moveStop() { motorR.run(RELEASE); motorL.run(RELEASE);   }
192 
193void turnRight() {
194  motorSet = "RIGHT";
195  motorR.run(FORWARD);       // Turn right motor forward
196  motorL.run(BACKWARD);     // Turn left motor   backward
197  delay(ACT_TIME);
198  motorSet = "FORWARD";
199  checkForward();
200}   
201 
202void turnLeft() {
203  motorSet = "LEFT";
204  motorR.run(BACKWARD);      // Turn right motor backward
205  motorL.run(FORWARD);      // Turn left motor   forward
206  delay(ACT_TIME);
207  motorSet = "FORWARD";
208  checkForward();
209}   
210

#include <NewPing.h> // 
#include <AFMotor.h> // You can download the   code library below
#include <Servo.h> //
 
// Ultranic Pin Configuration
   
#define TRIG_PIN A0
#define ECHO_PIN A1
 
#define MAX_DISTANCE 400
#define   MAX_SPEED 255
#define MAX_SPEED_OFFSET -8
 
#define COLL_DIST 20
#define   TURN_DIST COLL_DIST+10
#define ACT_TIME 250
 int calibrationTime = 30;        

//the   time when the sensor outputs a low impulse
long unsigned int lowIn;         

//the   amount of milliseconds the sensor has to be low 
//before we assume all motion   has stopped
long unsigned int pause = 5000;  

boolean lockLow = true;
boolean   takeLowTime;  

int pirPin = A3;    //the digital pin connected to the PIR   sensor's output
int ledPin = A2;
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);   
 
AF_DCMotor motorR(1, MOTOR12_1KHZ); // Set motor #1, 1kHz PWM
AF_DCMotor   motorL(4, MOTOR12_1KHZ); // Set motor #2, 1kHz PWM
 
Servo myservo;  // Set   servo object to control a servo 
String motorSet = "";
 
int curDist   = 0, pos, speedSet = 0;
//int pos;
//int speedSet = 0;
 
void setup()   {
  Serial.begin(9600);
  pinMode(pirPin, INPUT);
  pinMode(ledPin, OUTPUT);
   digitalWrite(pirPin, LOW);

  //give the sensor some time to calibrate
   Serial.print("calibrating sensor ");
    for(int i = 0; i < calibrationTime;   i++){
      Serial.print(".");
      delay(1000);
      }
    Serial.println("   done");
    Serial.println("SENSOR ACTIVE");
    delay(50);
  myservo.attach(9);   // Set to attach the servo on pin 9 
  myservo.write(90);  // Write 90 to face   servo forward
  delay(2000);
 
  motorSet = "FORWARD";
  moveForward();
   
}
 
void loop() {
  
  checkPath();
  if(digitalRead(pirPin)   == HIGH){
       digitalWrite(ledPin, HIGH);   //the led visualizes the sensors   output pin state
       if(lockLow){  
         //makes sure we wait for a   transition to LOW before any further output is made:
         lockLow = false;             
         Serial.println("---");
         Serial.print("motion   detected at ");
         Serial.print(millis()/1000);
         Serial.println("   sec"); 
         delay(50);
         }         
         takeLowTime =   true;
       }

     if(digitalRead(pirPin) == LOW){       
       digitalWrite(ledPin,   LOW);  //the led visualizes the sensors output pin state

       if(takeLowTime){
         lowIn = millis();          //save the time of the transition from high to   LOW
        takeLowTime = false;       //make sure this is only done at the start   of a LOW phase
        }
       //if the sensor is low for more than the given   pause, 
       //we assume that no more motion is going to happen
       if(!lockLow   && millis() - lowIn > pause){  
           //makes sure this block of code is   only executed again after 
           //a new motion sequence has been detected
            lockLow = true;                        
           Serial.print("motion   ended at ");      //output
           Serial.print((millis() - pause)/1000);
            Serial.println(" sec");
           delay(50);
           }
        }
  
}
 
void checkPath() {
  
  int curLeft = 0; int curRight   = 0; int curFront = 0;
  curDist = 0;
  
  checkForward();
  myservo.write(135);
   delay(100);
  for (pos = 135; pos >= 45; pos -= 45) {
    myservo.write(pos);
     delay(170);
    curDist = readPing();
    
    if (curDist < COLL_DIST)   { checkCourse(); break; }
    if (curDist < TURN_DIST) { changePath(); } 
   
  }    
}  
 
int readPing() {
  int cm = 0;
  while (cm <   2) {int uS = sonar.ping(); cm = uS/US_ROUNDTRIP_CM;}
  return cm;
}
 
void   checkForward() { 
  if (motorSet=="FORWARD") { motorR.run(FORWARD); motorL.run(FORWARD);   } 
}    
void changePath() {
 
  if (pos < 90) { veerLeft(); } 
   if (pos > 90) { veerRight(); }
  
}
 
void veerRight() {
  motorR.run(BACKWARD);   motorL.run(FORWARD); 
  delay(ACT_TIME); 
  motorR.run(FORWARD);   motorL.run(FORWARD);
   motorSet = "FORWARD";
}
 
void veerLeft() {
  motorL.run(BACKWARD);   motorR.run(FORWARD); 
  delay(ACT_TIME); 
  motorL.run(FORWARD);   motorR.run(FORWARD);
   motorSet = "FORWARD";
}
 
void checkCourse() {
  moveBackward();
   delay(ACT_TIME);
  moveStop();
  setCourse();
}
 
void setCourse()   {
  if (pos < 90) { turnRight(); } 
  if (pos > 90) { turnLeft(); }
}
   
void moveBackward() {
  motorSet = "BACKWARD";
  
  motorR.run(BACKWARD);   // Turn right motor backward    
  motorL.run(BACKWARD);  // Turn left motor   backward
  
  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
  {
     motorL.setSpeed(speedSet);
    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
     delay(5);
  }
}  
 
void moveForward() {
  motorSet = "FORWARD";
   checkForward();
  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)  {
     motorL.setSpeed(speedSet);
    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
     delay(4);
  }
}
 
void moveStop() { motorR.run(RELEASE); motorL.run(RELEASE);   }
 
void turnRight() {
  motorSet = "RIGHT";
  motorR.run(FORWARD);       // Turn right motor forward
  motorL.run(BACKWARD);     // Turn left motor   backward
  delay(ACT_TIME);
  motorSet = "FORWARD";
  checkForward();
}   
 
void turnLeft() {
  motorSet = "LEFT";
  motorR.run(BACKWARD);      // Turn right motor backward
  motorL.run(FORWARD);      // Turn left motor   forward
  delay(ACT_TIME);
  motorSet = "FORWARD";
  checkForward();
}

Human Detection.ino

arduino

1#include <NewPing.h> // 
2#include <AFMotor.h> // You can download the  code library below
3#include <Servo.h> //
4 
5// Ultranic Pin Configuration
6  
7#define TRIG_PIN A0
8#define ECHO_PIN A1
9 
10#define MAX_DISTANCE 400
11#define  MAX_SPEED 255
12#define MAX_SPEED_OFFSET -8
13 
14#define COLL_DIST 20
15#define  TURN_DIST COLL_DIST+10
16#define ACT_TIME 250
17 int calibrationTime = 30;        
18
19//the  time when the sensor outputs a low impulse
20long unsigned int lowIn;         
21
22//the  amount of milliseconds the sensor has to be low 
23//before we assume all motion  has stopped
24long unsigned int pause = 5000;  
25
26boolean lockLow = true;
27boolean  takeLowTime;  
28
29int pirPin = A3;    //the digital pin connected to the PIR  sensor's output
30int ledPin = A2;
31NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);  
32 
33AF_DCMotor motorR(1, MOTOR12_1KHZ); // Set motor #1, 1kHz PWM
34AF_DCMotor  motorL(4, MOTOR12_1KHZ); // Set motor #2, 1kHz PWM
35 
36Servo myservo;  // Set  servo object to control a servo 
37String motorSet = "";
38 
39int curDist  = 0, pos, speedSet = 0;
40//int pos;
41//int speedSet = 0;
42 
43void setup()  {
44  Serial.begin(9600);
45  pinMode(pirPin, INPUT);
46  pinMode(ledPin, OUTPUT);
47  digitalWrite(pirPin, LOW);
48
49  //give the sensor some time to calibrate
50  Serial.print("calibrating sensor ");
51    for(int i = 0; i < calibrationTime;  i++){
52      Serial.print(".");
53      delay(1000);
54      }
55    Serial.println("  done");
56    Serial.println("SENSOR ACTIVE");
57    delay(50);
58  myservo.attach(9);  // Set to attach the servo on pin 9 
59  myservo.write(90);  // Write 90 to face  servo forward
60  delay(2000);
61 
62  motorSet = "FORWARD";
63  moveForward();
64  
65}
66 
67void loop() {
68  
69  checkPath();
70  if(digitalRead(pirPin)  == HIGH){
71       digitalWrite(ledPin, HIGH);   //the led visualizes the sensors  output pin state
72       if(lockLow){  
73         //makes sure we wait for a  transition to LOW before any further output is made:
74         lockLow = false;            
75         Serial.println("---");
76         Serial.print("motion  detected at ");
77         Serial.print(millis()/1000);
78         Serial.println("  sec"); 
79         delay(50);
80         }         
81         takeLowTime =  true;
82       }
83
84     if(digitalRead(pirPin) == LOW){       
85       digitalWrite(ledPin,  LOW);  //the led visualizes the sensors output pin state
86
87       if(takeLowTime){
88        lowIn = millis();          //save the time of the transition from high to  LOW
89        takeLowTime = false;       //make sure this is only done at the start  of a LOW phase
90        }
91       //if the sensor is low for more than the given  pause, 
92       //we assume that no more motion is going to happen
93       if(!lockLow  && millis() - lowIn > pause){  
94           //makes sure this block of code is  only executed again after 
95           //a new motion sequence has been detected
96           lockLow = true;                        
97           Serial.print("motion  ended at ");      //output
98           Serial.print((millis() - pause)/1000);
99           Serial.println(" sec");
100           delay(50);
101           }
102       }
103  
104}
105 
106void checkPath() {
107  
108  int curLeft = 0; int curRight  = 0; int curFront = 0;
109  curDist = 0;
110  
111  checkForward();
112  myservo.write(135);
113  delay(100);
114  for (pos = 135; pos >= 45; pos -= 45) {
115    myservo.write(pos);
116    delay(170);
117    curDist = readPing();
118    
119    if (curDist < COLL_DIST)  { checkCourse(); break; }
120    if (curDist < TURN_DIST) { changePath(); } 
121  
122  }    
123}  
124 
125int readPing() {
126  int cm = 0;
127  while (cm <  2) {int uS = sonar.ping(); cm = uS/US_ROUNDTRIP_CM;}
128  return cm;
129}
130 
131void  checkForward() { 
132  if (motorSet=="FORWARD") { motorR.run(FORWARD); motorL.run(FORWARD);  } 
133}    
134void changePath() {
135 
136  if (pos < 90) { veerLeft(); } 
137  if (pos > 90) { veerRight(); }
138  
139}
140 
141void veerRight() {
142  motorR.run(BACKWARD);  motorL.run(FORWARD); 
143  delay(ACT_TIME); 
144  motorR.run(FORWARD);   motorL.run(FORWARD);
145  motorSet = "FORWARD";
146}
147 
148void veerLeft() {
149  motorL.run(BACKWARD);  motorR.run(FORWARD); 
150  delay(ACT_TIME); 
151  motorL.run(FORWARD);   motorR.run(FORWARD);
152  motorSet = "FORWARD";
153}
154 
155void checkCourse() {
156  moveBackward();
157  delay(ACT_TIME);
158  moveStop();
159  setCourse();
160}
161 
162void setCourse()  {
163  if (pos < 90) { turnRight(); } 
164  if (pos > 90) { turnLeft(); }
165}
166  
167void moveBackward() {
168  motorSet = "BACKWARD";
169  
170  motorR.run(BACKWARD);  // Turn right motor backward    
171  motorL.run(BACKWARD);  // Turn left motor  backward
172  
173  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
174  {
175    motorL.setSpeed(speedSet);
176    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
177    delay(5);
178  }
179}  
180 
181void moveForward() {
182  motorSet = "FORWARD";
183  checkForward();
184  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)  {
185    motorL.setSpeed(speedSet);
186    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
187    delay(4);
188  }
189}
190 
191void moveStop() { motorR.run(RELEASE); motorL.run(RELEASE);  }
192 
193void turnRight() {
194  motorSet = "RIGHT";
195  motorR.run(FORWARD);      // Turn right motor forward
196  motorL.run(BACKWARD);     // Turn left motor  backward
197  delay(ACT_TIME);
198  motorSet = "FORWARD";
199  checkForward();
200}  
201 
202void turnLeft() {
203  motorSet = "LEFT";
204  motorR.run(BACKWARD);     // Turn right motor backward
205  motorL.run(FORWARD);      // Turn left motor  forward
206  delay(ACT_TIME);
207  motorSet = "FORWARD";
208  checkForward();
209}  
210

#include <NewPing.h> // 
#include <AFMotor.h> // You can download the  code library below
#include <Servo.h> //
 
// Ultranic Pin Configuration
  
#define TRIG_PIN A0
#define ECHO_PIN A1
 
#define MAX_DISTANCE 400
#define  MAX_SPEED 255
#define MAX_SPEED_OFFSET -8
 
#define COLL_DIST 20
#define  TURN_DIST COLL_DIST+10
#define ACT_TIME 250
 int calibrationTime = 30;        

//the  time when the sensor outputs a low impulse
long unsigned int lowIn;         

//the  amount of milliseconds the sensor has to be low 
//before we assume all motion  has stopped
long unsigned int pause = 5000;  

boolean lockLow = true;
boolean  takeLowTime;  

int pirPin = A3;    //the digital pin connected to the PIR  sensor's output
int ledPin = A2;
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);  
 
AF_DCMotor motorR(1, MOTOR12_1KHZ); // Set motor #1, 1kHz PWM
AF_DCMotor  motorL(4, MOTOR12_1KHZ); // Set motor #2, 1kHz PWM
 
Servo myservo;  // Set  servo object to control a servo 
String motorSet = "";
 
int curDist  = 0, pos, speedSet = 0;
//int pos;
//int speedSet = 0;
 
void setup()  {
  Serial.begin(9600);
  pinMode(pirPin, INPUT);
  pinMode(ledPin, OUTPUT);
  digitalWrite(pirPin, LOW);

  //give the sensor some time to calibrate
  Serial.print("calibrating sensor ");
    for(int i = 0; i < calibrationTime;  i++){
      Serial.print(".");
      delay(1000);
      }
    Serial.println("  done");
    Serial.println("SENSOR ACTIVE");
    delay(50);
  myservo.attach(9);  // Set to attach the servo on pin 9 
  myservo.write(90);  // Write 90 to face  servo forward
  delay(2000);
 
  motorSet = "FORWARD";
  moveForward();
  
}
 
void loop() {
  
  checkPath();
  if(digitalRead(pirPin)  == HIGH){
       digitalWrite(ledPin, HIGH);   //the led visualizes the sensors  output pin state
       if(lockLow){  
         //makes sure we wait for a  transition to LOW before any further output is made:
         lockLow = false;            
         Serial.println("---");
         Serial.print("motion  detected at ");
         Serial.print(millis()/1000);
         Serial.println("  sec"); 
         delay(50);
         }         
         takeLowTime =  true;
       }

     if(digitalRead(pirPin) == LOW){       
       digitalWrite(ledPin,  LOW);  //the led visualizes the sensors output pin state

       if(takeLowTime){
        lowIn = millis();          //save the time of the transition from high to  LOW
        takeLowTime = false;       //make sure this is only done at the start  of a LOW phase
        }
       //if the sensor is low for more than the given  pause, 
       //we assume that no more motion is going to happen
       if(!lockLow  && millis() - lowIn > pause){  
           //makes sure this block of code is  only executed again after 
           //a new motion sequence has been detected
           lockLow = true;                        
           Serial.print("motion  ended at ");      //output
           Serial.print((millis() - pause)/1000);
           Serial.println(" sec");
           delay(50);
           }
       }
  
}
 
void checkPath() {
  
  int curLeft = 0; int curRight  = 0; int curFront = 0;
  curDist = 0;
  
  checkForward();
  myservo.write(135);
  delay(100);
  for (pos = 135; pos >= 45; pos -= 45) {
    myservo.write(pos);
    delay(170);
    curDist = readPing();
    
    if (curDist < COLL_DIST)  { checkCourse(); break; }
    if (curDist < TURN_DIST) { changePath(); } 
  
  }    
}  
 
int readPing() {
  int cm = 0;
  while (cm <  2) {int uS = sonar.ping(); cm = uS/US_ROUNDTRIP_CM;}
  return cm;
}
 
void  checkForward() { 
  if (motorSet=="FORWARD") { motorR.run(FORWARD); motorL.run(FORWARD);  } 
}    
void changePath() {
 
  if (pos < 90) { veerLeft(); } 
  if (pos > 90) { veerRight(); }
  
}
 
void veerRight() {
  motorR.run(BACKWARD);  motorL.run(FORWARD); 
  delay(ACT_TIME); 
  motorR.run(FORWARD);   motorL.run(FORWARD);
  motorSet = "FORWARD";
}
 
void veerLeft() {
  motorL.run(BACKWARD);  motorR.run(FORWARD); 
  delay(ACT_TIME); 
  motorL.run(FORWARD);   motorR.run(FORWARD);
  motorSet = "FORWARD";
}
 
void checkCourse() {
  moveBackward();
  delay(ACT_TIME);
  moveStop();
  setCourse();
}
 
void setCourse()  {
  if (pos < 90) { turnRight(); } 
  if (pos > 90) { turnLeft(); }
}
  
void moveBackward() {
  motorSet = "BACKWARD";
  
  motorR.run(BACKWARD);  // Turn right motor backward    
  motorL.run(BACKWARD);  // Turn left motor  backward
  
  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
  {
    motorL.setSpeed(speedSet);
    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
    delay(5);
  }
}  
 
void moveForward() {
  motorSet = "FORWARD";
  checkForward();
  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)  {
    motorL.setSpeed(speedSet);
    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
    delay(4);
  }
}
 
void moveStop() { motorR.run(RELEASE); motorL.run(RELEASE);  }
 
void turnRight() {
  motorSet = "RIGHT";
  motorR.run(FORWARD);      // Turn right motor forward
  motorL.run(BACKWARD);     // Turn left motor  backward
  delay(ACT_TIME);
  motorSet = "FORWARD";
  checkForward();
}  
 
void turnLeft() {
  motorSet = "LEFT";
  motorR.run(BACKWARD);     // Turn right motor backward
  motorL.run(FORWARD);      // Turn left motor  forward
  delay(ACT_TIME);
  motorSet = "FORWARD";
  checkForward();
}

Downloadable files

BLOCK DIAGRAM -I

This Block Diagram shows the interfacing between the Sensors and the Arduino Board

BLOCK DIAGRAM -I

Flow Chart Of the System

This Flow Chart shows how the system Works

Flow Chart Of the System

Connection Diagram between the Sensors and the Arduino board

This Circuit Diagram shows the connection configurations between various Sensors with the Arduino Uno Board

Connection Diagram between the Sensors and the Arduino board

BLOCK DIAGRAM -I

This Block Diagram shows the interfacing between the Sensors and the Arduino Board

BLOCK DIAGRAM -I

Flow Chart Of the System

This Flow Chart shows how the system Works

Flow Chart Of the System

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lokeshpurulia

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