DIY Edge Avoider Robot

1// https://www.youtube.com/channel/UCaXI2PcsTlH5g0et67kdD6g  //
2//  Edge Avoider Robot //
3// By MOHD SOHAIL //
4
5#include <AFMotor.h>
6
7#define  IR1 A2
8#define IR2 A1
9
10
11AF_DCMotor motor1(1, MOTOR12_1KHZ); 
12AF_DCMotor  motor2(2, MOTOR12_1KHZ); 
13AF_DCMotor motor3(3, MOTOR34_1KHZ);
14AF_DCMotor motor4(4,  MOTOR34_1KHZ);
15
16
17char command; 
18
19void setup() 
20{       
21  Serial.begin(9600);  //Set the baud rate to your Bluetooth module.
22  pinMode(IR1, INPUT);
23  pinMode(IR2,  INPUT);
24    
25}
26
27void loop(){
28    
29  if(Serial.available() > 0){  
30    command = Serial.read(); 
31    Stop(); 
32    
33    Serial.println(command);
34    
35    
36    switch(command){
37    case 'F':  
38      forward();
39      break;
40    case 'B':  
41       back();
42      break;
43    case 'L':  
44      left();
45      break;
46    case 'R':
47      right();
48      break;
49      case 'S':  
50      Stop();
51      break;
52    }
53    
54    
55   
56    int Right = digitalRead(IR1);
57    int Left = digitalRead(IR2);
58    
59    if(Right == 1 || Left == 1 ) {
60      motor1.setSpeed(255);
61      motor1.run(BACKWARD);
62      motor2.setSpeed(255);
63      motor2.run(BACKWARD);
64      motor3.setSpeed(255);
65      motor3.run(BACKWARD);
66      motor4.setSpeed(255);
67      motor4.run(BACKWARD);
68      
69    }else if(Right == 0 || Left == 0) {
70      command = Serial.read();
71    }
72 }
73}
74
75void forward()
76{
77  motor1.setSpeed(150); //Define  maximum Speed
78  motor1.run(FORWARD); //rotate the motor clockwise
79  motor2.setSpeed(150);  //Define maximum Speed
80  motor2.run(FORWARD); //rotate the motor clockwise
81  motor3.setSpeed(150);//Define maximum Speed
82  motor3.run(FORWARD); //rotate  the motor clockwise
83  motor4.setSpeed(150);//Define maximum Speed
84  motor4.run(FORWARD);  //rotate the motor clockwise
85}
86
87void back()
88{
89  motor1.setSpeed(150);  //Define maximum Speed
90  motor1.run(BACKWARD); //rotate the motor anti-clockwise
91  motor2.setSpeed(150); //Define maximum Speed
92  motor2.run(BACKWARD); //rotate  the motor anti-clockwise
93  motor3.setSpeed(150); //Define maximum Speed
94  motor3.run(BACKWARD);  //rotate the motor anti-clockwise
95  motor4.setSpeed(150); //Define maximum Speed
96  motor4.run(BACKWARD); //rotate the motor anti-clockwise
97}
98
99void left()
100{
101  motor1.setSpeed(200); //Define maximum Speed
102  motor1.run(BACKWARD); //rotate  the motor anti-clockwise
103  motor2.setSpeed(200); //Define maximum Speed
104  motor2.run(BACKWARD);  //rotate the motor anti-clockwise
105  motor3.setSpeed(200); //Define maximum Speed
106  motor3.run(FORWARD);  //rotate the motor clockwise
107  motor4.setSpeed(200);  //Define maximum Speed
108  motor4.run(FORWARD);  //rotate the motor clockwise
109}
110
111void  right()
112{
113  motor1.setSpeed(200); //Define maximum Speed
114  motor1.run(FORWARD);  //rotate the motor clockwise
115  motor2.setSpeed(200); //Define maximum Speed
116  motor2.run(FORWARD); //rotate the motor clockwise
117  motor3.setSpeed(200); //Define  maximum Speed
118  motor3.run(BACKWARD); //rotate the motor anti-clockwise
119  motor4.setSpeed(200);  //Define maximum Speed
120  motor4.run(BACKWARD); //rotate the motor anti-clockwise
121}  
122
123void Stop()
124{
125  motor1.setSpeed(0); //Define minimum Speed
126  motor1.run(RELEASE);  //stop the motor when release the button
127  motor2.setSpeed(0); //Define minimum  Speed
128  motor2.run(RELEASE); //rotate the motor clockwise
129  motor3.setSpeed(0);  //Define minimum Speed
130  motor3.run(RELEASE); //stop the motor when release the  button
131  motor4.setSpeed(0); //Define minimum Speed
132  motor4.run(RELEASE);  //stop the motor when release the button
133}
134

1// https://www.youtube.com/channel/UCaXI2PcsTlH5g0et67kdD6g  //
2//
3  Edge Avoider Robot //
4// By MOHD SOHAIL //
5
6#include <AFMotor.h>
7
8#define
9  IR1 A2
10#define IR2 A1
11
12
13AF_DCMotor motor1(1, MOTOR12_1KHZ); 
14AF_DCMotor
15  motor2(2, MOTOR12_1KHZ); 
16AF_DCMotor motor3(3, MOTOR34_1KHZ);
17AF_DCMotor motor4(4,
18  MOTOR34_1KHZ);
19
20
21char command; 
22
23void setup() 
24{       
25  Serial.begin(9600);
26  //Set the baud rate to your Bluetooth module.
27  pinMode(IR1, INPUT);
28  pinMode(IR2,
29  INPUT);
30    
31}
32
33void loop(){
34    
35  if(Serial.available() > 0){
36  
37    command = Serial.read(); 
38    Stop(); 
39    
40    Serial.println(command);
41
42    
43    
44    switch(command){
45    case 'F':  
46      forward();
47
48      break;
49    case 'B':  
50       back();
51      break;
52    case 'L':
53  
54      left();
55      break;
56    case 'R':
57      right();
58      break;
59
60      case 'S':  
61      Stop();
62      break;
63    }
64    
65    
66
67   
68    int Right = digitalRead(IR1);
69    int Left = digitalRead(IR2);
70
71    
72    if(Right == 1 || Left == 1 ) {
73      motor1.setSpeed(255);
74      motor1.run(BACKWARD);
75
76      motor2.setSpeed(255);
77      motor2.run(BACKWARD);
78      motor3.setSpeed(255);
79
80      motor3.run(BACKWARD);
81      motor4.setSpeed(255);
82      motor4.run(BACKWARD);
83
84      
85    }else if(Right == 0 || Left == 0) {
86      command = Serial.read();
87
88    }
89 }
90}
91
92void forward()
93{
94  motor1.setSpeed(150); //Define
95  maximum Speed
96  motor1.run(FORWARD); //rotate the motor clockwise
97  motor2.setSpeed(150);
98  //Define maximum Speed
99  motor2.run(FORWARD); //rotate the motor clockwise
100
101  motor3.setSpeed(150);//Define maximum Speed
102  motor3.run(FORWARD); //rotate
103  the motor clockwise
104  motor4.setSpeed(150);//Define maximum Speed
105  motor4.run(FORWARD);
106  //rotate the motor clockwise
107}
108
109void back()
110{
111  motor1.setSpeed(150);
112  //Define maximum Speed
113  motor1.run(BACKWARD); //rotate the motor anti-clockwise
114
115  motor2.setSpeed(150); //Define maximum Speed
116  motor2.run(BACKWARD); //rotate
117  the motor anti-clockwise
118  motor3.setSpeed(150); //Define maximum Speed
119  motor3.run(BACKWARD);
120  //rotate the motor anti-clockwise
121  motor4.setSpeed(150); //Define maximum Speed
122
123  motor4.run(BACKWARD); //rotate the motor anti-clockwise
124}
125
126void left()
127{
128
129  motor1.setSpeed(200); //Define maximum Speed
130  motor1.run(BACKWARD); //rotate
131  the motor anti-clockwise
132  motor2.setSpeed(200); //Define maximum Speed
133  motor2.run(BACKWARD);
134  //rotate the motor anti-clockwise
135  motor3.setSpeed(200); //Define maximum Speed
136
137  motor3.run(FORWARD);  //rotate the motor clockwise
138  motor4.setSpeed(200);
139  //Define maximum Speed
140  motor4.run(FORWARD);  //rotate the motor clockwise
141}
142
143void
144  right()
145{
146  motor1.setSpeed(200); //Define maximum Speed
147  motor1.run(FORWARD);
148  //rotate the motor clockwise
149  motor2.setSpeed(200); //Define maximum Speed
150
151  motor2.run(FORWARD); //rotate the motor clockwise
152  motor3.setSpeed(200); //Define
153  maximum Speed
154  motor3.run(BACKWARD); //rotate the motor anti-clockwise
155  motor4.setSpeed(200);
156  //Define maximum Speed
157  motor4.run(BACKWARD); //rotate the motor anti-clockwise
158}
159  
160
161void Stop()
162{
163  motor1.setSpeed(0); //Define minimum Speed
164  motor1.run(RELEASE);
165  //stop the motor when release the button
166  motor2.setSpeed(0); //Define minimum
167  Speed
168  motor2.run(RELEASE); //rotate the motor clockwise
169  motor3.setSpeed(0);
170  //Define minimum Speed
171  motor3.run(RELEASE); //stop the motor when release the
172  button
173  motor4.setSpeed(0); //Define minimum Speed
174  motor4.run(RELEASE);
175  //stop the motor when release the button
176}
177