Auto Obstacle Avoidance & Table Edge Detection Robot

A multi functional Arduino UNO based obstacle avoidance with Ultrasonic sensor and table edge detection using IR sensors.

Sep 26, 2020

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5094 views

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2 respects

remote control

robots

Components and supplies

IR Sensor Module

Jumper wires (generic)

Battery, 3.7 V

DC Motor, 12 V

L293D Module

SG90 Micro-servo motor

Arduino UNO

Ultrasonic Sensor - HC-SR04 (Generic)

Tools and machines

Mastech MS8217 Autorange Digital Multimeter

Solder Wire, Lead Free

Soldering iron (generic)

Hot glue gun (generic)

Tape, Double Sided

Apps and platforms

RobotoApp

Arduino IDE

Project description

Code

code

c_cpp

1#include <Servo.h>
2#define BS 12      // back sensor 
3#define FS   13      // front sensor 
4#define L1 10       // left motor 
5#define L2 11        // left motor 
6#define R1 8       // right motor 
7#define R2 9       //   right motor 
8#define E 2 // attach pin D2 Arduino to pin Echo of HC-SR04
9#define   T 3 //attach pin D3 Arduino to pin Trig of HC-SR04
10#define S 5 // for speed of   pin 5
11#define SR 4// Servo
12#define VIN A0
13Servo srv;  // create servo object   to control a servo
14boolean isAuto = false;// Manual Default
15
16
17void setup   ()
18{
19  Serial.begin(9600);
20  pinMode(FS, INPUT);
21  pinMode(BS, INPUT);
22   pinMode(L1, OUTPUT);
23  pinMode(L2, OUTPUT);
24  pinMode(R1, OUTPUT);
25  pinMode(R2,   OUTPUT);
26  pinMode(S, OUTPUT);
27  pinMode(T, OUTPUT);
28  pinMode(E, INPUT);
29   pinMode(VIN, INPUT);
30
31  srv.attach(SR);
32  melody();
33
34}
35const   unsigned short melodyArr[] = {
36  262, 196, 196, 220, 196, 0, 247, 262
37};
38const   byte noteDurations[] = {
39  250, 125, 125, 250, 250, 250, 250, 250
40};
41void   melody() {
42  for (int i = 0; i < 8; i++) {
43    int noteDuration =  noteDurations[i];
44     tone(6, melodyArr[i], noteDuration);
45    int pauseBetweenNotes = noteDuration   * 1.30;
46    delay(pauseBetweenNotes);
47    noTone(6);
48  }
49}
50unsigned   int s = 255;
51void loop()
52{
53  String str = "";
54  char c;
55  int di   = ping();
56
57
58  if (Serial.available()) {
59    while (Serial.available())   {
60
61      str = str + (char)Serial.read();
62
63    }
64    if (str.length()   > 0) {
65      c = str[0];
66    }
67
68    if (c == '1' && str.length() ==   1) {
69      move(true, false, true, false, s);
70    } else if (c == '2' && str.length()   == 1) {
71      move(false, true, false, true, s);
72    } else if (c == '3' &&   str.length() == 1) {
73      move(true, false, false, true, s);// Left
74    }   else if (c == '4' && str.length() == 1) {
75      move(false, true, true, false,   s); // Right
76    } else if (c == '5' && str.length() == 1) {
77      move(false,   false, false, false, s);
78    } else if (str.startsWith("sp:")) {
79      s   = str.substring(3).toInt();
80    } else if (str.startsWith("sr:")) {
81      srv.write(str.substring(3).toInt());
82     } else if (str.startsWith("tn:")) {
83      tone(6, 480, str.substring(3).toInt());
84     } else if (str.startsWith("mo:")) {
85      isAuto = str.substring(3).toInt()   == 0 ? false : true;
86    } else if (str == "ml") {
87      melody();
88    }   else if (str == "di") {
89      Serial.println("di:" + String(di));
90    }   else if (str == "vin") {
91      float vin = (analogRead(VIN) * 5.0) / 1023;
92       Serial.println("vin:" + String(vin));
93    }
94
95  }
96  char x =   digitalRead(FS) ? '2' : '1';
97  if ((di <= 20 || digitalRead(BS) || digitalRead(FS))   && c != x && !isAuto) {
98    move(false, false, false, false, s);
99  } else   if (isAuto && (di <= 20 || digitalRead(FS))) {
100    move(false, false, false,   false, s);//Stop
101    tone(6, 480, 1000);
102    delay(1000);
103    tone(6, 480,   1000);
104    noTone(6);
105    if ( ping() > 20 && !digitalRead(FS)) {
106      delay(100);
107       move(true, false, true, false, s);
108    } else {
109      delay(100);
110       move(false, true, false, true, s);//Back
111      delay(400);
112      move(false,   false, false, false, s);//Stop
113      delay(300);
114      int dRight = lookRight();
115       delay(300);
116      int dLeft = lookLeft();
117      delay(300);
118      if   (dRight >= 20) {
119        move(false, true, true, false, s); // Right
120        delay(600);
121         move(false, false, false, false, s);
122      } else if (dLeft >= 20) {
123         move(true, false, false, true, s);// Left
124        delay(600);
125        move(false,   false, false, false, s);
126      } else {
127        move(false, false, false,   false, s);//Stop
128        melody();
129      }
130
131    }
132
133  } else if   (isAuto) {
134    move(true, false, true, false, s);
135  }
136}
137int lookRight()   {
138  srv.write(0);
139  delay(300);
140  int d = ping();
141  srv.write(90);
142   return d;
143}
144int lookLeft() {
145  srv.write(180);
146  delay(300);
147  int   d = ping();
148  srv.write(90);
149  return d;
150}
151int ping() {
152  delay(100);
153
154   // Clears the trigPin condition
155  digitalWrite(T, LOW);
156  delayMicroseconds(2);
157   // Sets the trigPin HIGH (ACTIVE) for 10 microseconds
158  digitalWrite(T, HIGH);
159   delayMicroseconds(10);
160  digitalWrite(T, LOW);
161  // Reads the echoPin, returns   the sound wave travel time in microseconds
162  int du = pulseIn(E, HIGH);
163  //   Calculating the distance
164  return du * 0.034 / 2; // Speed of sound wave divided   by 2 (go and back)
165}
166void move(bool l1, bool l2, bool r1, bool r2, int s)   {
167
168  analogWrite(S, s);
169  digitalWrite(L1, l1);
170  digitalWrite(L2, l2);
171   digitalWrite(R1, r1);
172  digitalWrite(R2, r2);
173
174
175}

#include <Servo.h>
#define BS 12      // back sensor 
#define FS   13      // front sensor 
#define L1 10       // left motor 
#define L2 11        // left motor 
#define R1 8       // right motor 
#define R2 9       //   right motor 
#define E 2 // attach pin D2 Arduino to pin Echo of HC-SR04
#define   T 3 //attach pin D3 Arduino to pin Trig of HC-SR04
#define S 5 // for speed of   pin 5
#define SR 4// Servo
#define VIN A0
Servo srv;  // create servo object   to control a servo
boolean isAuto = false;// Manual Default


void setup   ()
{
  Serial.begin(9600);
  pinMode(FS, INPUT);
  pinMode(BS, INPUT);
   pinMode(L1, OUTPUT);
  pinMode(L2, OUTPUT);
  pinMode(R1, OUTPUT);
  pinMode(R2,   OUTPUT);
  pinMode(S, OUTPUT);
  pinMode(T, OUTPUT);
  pinMode(E, INPUT);
   pinMode(VIN, INPUT);

  srv.attach(SR);
  melody();

}
const   unsigned short melodyArr[] = {
  262, 196, 196, 220, 196, 0, 247, 262
};
const   byte noteDurations[] = {
  250, 125, 125, 250, 250, 250, 250, 250
};
void   melody() {
  for (int i = 0; i < 8; i++) {
    int noteDuration =  noteDurations[i];
     tone(6, melodyArr[i], noteDuration);
    int pauseBetweenNotes = noteDuration   * 1.30;
    delay(pauseBetweenNotes);
    noTone(6);
  }
}
unsigned   int s = 255;
void loop()
{
  String str = "";
  char c;
  int di   = ping();


  if (Serial.available()) {
    while (Serial.available())   {

      str = str + (char)Serial.read();

    }
    if (str.length()   > 0) {
      c = str[0];
    }

    if (c == '1' && str.length() ==   1) {
      move(true, false, true, false, s);
    } else if (c == '2' && str.length()   == 1) {
      move(false, true, false, true, s);
    } else if (c == '3' &&   str.length() == 1) {
      move(true, false, false, true, s);// Left
    }   else if (c == '4' && str.length() == 1) {
      move(false, true, true, false,   s); // Right
    } else if (c == '5' && str.length() == 1) {
      move(false,   false, false, false, s);
    } else if (str.startsWith("sp:")) {
      s   = str.substring(3).toInt();
    } else if (str.startsWith("sr:")) {
      srv.write(str.substring(3).toInt());
     } else if (str.startsWith("tn:")) {
      tone(6, 480, str.substring(3).toInt());
     } else if (str.startsWith("mo:")) {
      isAuto = str.substring(3).toInt()   == 0 ? false : true;
    } else if (str == "ml") {
      melody();
    }   else if (str == "di") {
      Serial.println("di:" + String(di));
    }   else if (str == "vin") {
      float vin = (analogRead(VIN) * 5.0) / 1023;
       Serial.println("vin:" + String(vin));
    }

  }
  char x =   digitalRead(FS) ? '2' : '1';
  if ((di <= 20 || digitalRead(BS) || digitalRead(FS))   && c != x && !isAuto) {
    move(false, false, false, false, s);
  } else   if (isAuto && (di <= 20 || digitalRead(FS))) {
    move(false, false, false,   false, s);//Stop
    tone(6, 480, 1000);
    delay(1000);
    tone(6, 480,   1000);
    noTone(6);
    if ( ping() > 20 && !digitalRead(FS)) {
      delay(100);
       move(true, false, true, false, s);
    } else {
      delay(100);
       move(false, true, false, true, s);//Back
      delay(400);
      move(false,   false, false, false, s);//Stop
      delay(300);
      int dRight = lookRight();
       delay(300);
      int dLeft = lookLeft();
      delay(300);
      if   (dRight >= 20) {
        move(false, true, true, false, s); // Right
        delay(600);
         move(false, false, false, false, s);
      } else if (dLeft >= 20) {
         move(true, false, false, true, s);// Left
        delay(600);
        move(false,   false, false, false, s);
      } else {
        move(false, false, false,   false, s);//Stop
        melody();
      }

    }

  } else if   (isAuto) {
    move(true, false, true, false, s);
  }
}
int lookRight()   {
  srv.write(0);
  delay(300);
  int d = ping();
  srv.write(90);
   return d;
}
int lookLeft() {
  srv.write(180);
  delay(300);
  int   d = ping();
  srv.write(90);
  return d;
}
int ping() {
  delay(100);

   // Clears the trigPin condition
  digitalWrite(T, LOW);
  delayMicroseconds(2);
   // Sets the trigPin HIGH (ACTIVE) for 10 microseconds
  digitalWrite(T, HIGH);
   delayMicroseconds(10);
  digitalWrite(T, LOW);
  // Reads the echoPin, returns   the sound wave travel time in microseconds
  int du = pulseIn(E, HIGH);
  //   Calculating the distance
  return du * 0.034 / 2; // Speed of sound wave divided   by 2 (go and back)
}
void move(bool l1, bool l2, bool r1, bool r2, int s)   {

  analogWrite(S, s);
  digitalWrite(L1, l1);
  digitalWrite(L2, l2);
   digitalWrite(R1, r1);
  digitalWrite(R2, r2);


}

code

c_cpp

1#include <Servo.h>
2#define BS 12      // back sensor 
3#define FS  13      // front sensor 
4#define L1 10       // left motor 
5#define L2 11       // left motor 
6#define R1 8       // right motor 
7#define R2 9       //  right motor 
8#define E 2 // attach pin D2 Arduino to pin Echo of HC-SR04
9#define  T 3 //attach pin D3 Arduino to pin Trig of HC-SR04
10#define S 5 // for speed of  pin 5
11#define SR 4// Servo
12#define VIN A0
13Servo srv;  // create servo object  to control a servo
14boolean isAuto = false;// Manual Default
15
16
17void setup  ()
18{
19  Serial.begin(9600);
20  pinMode(FS, INPUT);
21  pinMode(BS, INPUT);
22  pinMode(L1, OUTPUT);
23  pinMode(L2, OUTPUT);
24  pinMode(R1, OUTPUT);
25  pinMode(R2,  OUTPUT);
26  pinMode(S, OUTPUT);
27  pinMode(T, OUTPUT);
28  pinMode(E, INPUT);
29  pinMode(VIN, INPUT);
30
31  srv.attach(SR);
32  melody();
33
34}
35const  unsigned short melodyArr[] = {
36  262, 196, 196, 220, 196, 0, 247, 262
37};
38const  byte noteDurations[] = {
39  250, 125, 125, 250, 250, 250, 250, 250
40};
41void  melody() {
42  for (int i = 0; i < 8; i++) {
43    int noteDuration =  noteDurations[i];
44    tone(6, melodyArr[i], noteDuration);
45    int pauseBetweenNotes = noteDuration  * 1.30;
46    delay(pauseBetweenNotes);
47    noTone(6);
48  }
49}
50unsigned  int s = 255;
51void loop()
52{
53  String str = "";
54  char c;
55  int di  = ping();
56
57
58  if (Serial.available()) {
59    while (Serial.available())  {
60
61      str = str + (char)Serial.read();
62
63    }
64    if (str.length()  > 0) {
65      c = str[0];
66    }
67
68    if (c == '1' && str.length() ==  1) {
69      move(true, false, true, false, s);
70    } else if (c == '2' && str.length()  == 1) {
71      move(false, true, false, true, s);
72    } else if (c == '3' &&  str.length() == 1) {
73      move(true, false, false, true, s);// Left
74    }  else if (c == '4' && str.length() == 1) {
75      move(false, true, true, false,  s); // Right
76    } else if (c == '5' && str.length() == 1) {
77      move(false,  false, false, false, s);
78    } else if (str.startsWith("sp:")) {
79      s  = str.substring(3).toInt();
80    } else if (str.startsWith("sr:")) {
81      srv.write(str.substring(3).toInt());
82    } else if (str.startsWith("tn:")) {
83      tone(6, 480, str.substring(3).toInt());
84    } else if (str.startsWith("mo:")) {
85      isAuto = str.substring(3).toInt()  == 0 ? false : true;
86    } else if (str == "ml") {
87      melody();
88    }  else if (str == "di") {
89      Serial.println("di:" + String(di));
90    }  else if (str == "vin") {
91      float vin = (analogRead(VIN) * 5.0) / 1023;
92      Serial.println("vin:" + String(vin));
93    }
94
95  }
96  char x =  digitalRead(FS) ? '2' : '1';
97  if ((di <= 20 || digitalRead(BS) || digitalRead(FS))  && c != x && !isAuto) {
98    move(false, false, false, false, s);
99  } else  if (isAuto && (di <= 20 || digitalRead(FS))) {
100    move(false, false, false,  false, s);//Stop
101    tone(6, 480, 1000);
102    delay(1000);
103    tone(6, 480,  1000);
104    noTone(6);
105    if ( ping() > 20 && !digitalRead(FS)) {
106      delay(100);
107      move(true, false, true, false, s);
108    } else {
109      delay(100);
110      move(false, true, false, true, s);//Back
111      delay(400);
112      move(false,  false, false, false, s);//Stop
113      delay(300);
114      int dRight = lookRight();
115      delay(300);
116      int dLeft = lookLeft();
117      delay(300);
118      if  (dRight >= 20) {
119        move(false, true, true, false, s); // Right
120        delay(600);
121        move(false, false, false, false, s);
122      } else if (dLeft >= 20) {
123        move(true, false, false, true, s);// Left
124        delay(600);
125        move(false,  false, false, false, s);
126      } else {
127        move(false, false, false,  false, s);//Stop
128        melody();
129      }
130
131    }
132
133  } else if  (isAuto) {
134    move(true, false, true, false, s);
135  }
136}
137int lookRight()  {
138  srv.write(0);
139  delay(300);
140  int d = ping();
141  srv.write(90);
142  return d;
143}
144int lookLeft() {
145  srv.write(180);
146  delay(300);
147  int  d = ping();
148  srv.write(90);
149  return d;
150}
151int ping() {
152  delay(100);
153
154  // Clears the trigPin condition
155  digitalWrite(T, LOW);
156  delayMicroseconds(2);
157  // Sets the trigPin HIGH (ACTIVE) for 10 microseconds
158  digitalWrite(T, HIGH);
159  delayMicroseconds(10);
160  digitalWrite(T, LOW);
161  // Reads the echoPin, returns  the sound wave travel time in microseconds
162  int du = pulseIn(E, HIGH);
163  //  Calculating the distance
164  return du * 0.034 / 2; // Speed of sound wave divided  by 2 (go and back)
165}
166void move(bool l1, bool l2, bool r1, bool r2, int s)  {
167
168  analogWrite(S, s);
169  digitalWrite(L1, l1);
170  digitalWrite(L2, l2);
171  digitalWrite(R1, r1);
172  digitalWrite(R2, r2);
173
174
175}

#include <Servo.h>
#define BS 12      // back sensor 
#define FS  13      // front sensor 
#define L1 10       // left motor 
#define L2 11       // left motor 
#define R1 8       // right motor 
#define R2 9       //  right motor 
#define E 2 // attach pin D2 Arduino to pin Echo of HC-SR04
#define  T 3 //attach pin D3 Arduino to pin Trig of HC-SR04
#define S 5 // for speed of  pin 5
#define SR 4// Servo
#define VIN A0
Servo srv;  // create servo object  to control a servo
boolean isAuto = false;// Manual Default


void setup  ()
{
  Serial.begin(9600);
  pinMode(FS, INPUT);
  pinMode(BS, INPUT);
  pinMode(L1, OUTPUT);
  pinMode(L2, OUTPUT);
  pinMode(R1, OUTPUT);
  pinMode(R2,  OUTPUT);
  pinMode(S, OUTPUT);
  pinMode(T, OUTPUT);
  pinMode(E, INPUT);
  pinMode(VIN, INPUT);

  srv.attach(SR);
  melody();

}
const  unsigned short melodyArr[] = {
  262, 196, 196, 220, 196, 0, 247, 262
};
const  byte noteDurations[] = {
  250, 125, 125, 250, 250, 250, 250, 250
};
void  melody() {
  for (int i = 0; i < 8; i++) {
    int noteDuration =  noteDurations[i];
    tone(6, melodyArr[i], noteDuration);
    int pauseBetweenNotes = noteDuration  * 1.30;
    delay(pauseBetweenNotes);
    noTone(6);
  }
}
unsigned  int s = 255;
void loop()
{
  String str = "";
  char c;
  int di  = ping();


  if (Serial.available()) {
    while (Serial.available())  {

      str = str + (char)Serial.read();

    }
    if (str.length()  > 0) {
      c = str[0];
    }

    if (c == '1' && str.length() ==  1) {
      move(true, false, true, false, s);
    } else if (c == '2' && str.length()  == 1) {
      move(false, true, false, true, s);
    } else if (c == '3' &&  str.length() == 1) {
      move(true, false, false, true, s);// Left
    }  else if (c == '4' && str.length() == 1) {
      move(false, true, true, false,  s); // Right
    } else if (c == '5' && str.length() == 1) {
      move(false,  false, false, false, s);
    } else if (str.startsWith("sp:")) {
      s  = str.substring(3).toInt();
    } else if (str.startsWith("sr:")) {
      srv.write(str.substring(3).toInt());
    } else if (str.startsWith("tn:")) {
      tone(6, 480, str.substring(3).toInt());
    } else if (str.startsWith("mo:")) {
      isAuto = str.substring(3).toInt()  == 0 ? false : true;
    } else if (str == "ml") {
      melody();
    }  else if (str == "di") {
      Serial.println("di:" + String(di));
    }  else if (str == "vin") {
      float vin = (analogRead(VIN) * 5.0) / 1023;
      Serial.println("vin:" + String(vin));
    }

  }
  char x =  digitalRead(FS) ? '2' : '1';
  if ((di <= 20 || digitalRead(BS) || digitalRead(FS))  && c != x && !isAuto) {
    move(false, false, false, false, s);
  } else  if (isAuto && (di <= 20 || digitalRead(FS))) {
    move(false, false, false,  false, s);//Stop
    tone(6, 480, 1000);
    delay(1000);
    tone(6, 480,  1000);
    noTone(6);
    if ( ping() > 20 && !digitalRead(FS)) {
      delay(100);
      move(true, false, true, false, s);
    } else {
      delay(100);
      move(false, true, false, true, s);//Back
      delay(400);
      move(false,  false, false, false, s);//Stop
      delay(300);
      int dRight = lookRight();
      delay(300);
      int dLeft = lookLeft();
      delay(300);
      if  (dRight >= 20) {
        move(false, true, true, false, s); // Right
        delay(600);
        move(false, false, false, false, s);
      } else if (dLeft >= 20) {
        move(true, false, false, true, s);// Left
        delay(600);
        move(false,  false, false, false, s);
      } else {
        move(false, false, false,  false, s);//Stop
        melody();
      }

    }

  } else if  (isAuto) {
    move(true, false, true, false, s);
  }
}
int lookRight()  {
  srv.write(0);
  delay(300);
  int d = ping();
  srv.write(90);
  return d;
}
int lookLeft() {
  srv.write(180);
  delay(300);
  int  d = ping();
  srv.write(90);
  return d;
}
int ping() {
  delay(100);

  // Clears the trigPin condition
  digitalWrite(T, LOW);
  delayMicroseconds(2);
  // Sets the trigPin HIGH (ACTIVE) for 10 microseconds
  digitalWrite(T, HIGH);
  delayMicroseconds(10);
  digitalWrite(T, LOW);
  // Reads the echoPin, returns  the sound wave travel time in microseconds
  int du = pulseIn(E, HIGH);
  //  Calculating the distance
  return du * 0.034 / 2; // Speed of sound wave divided  by 2 (go and back)
}
void move(bool l1, bool l2, bool r1, bool r2, int s)  {

  analogWrite(S, s);
  digitalWrite(L1, l1);
  digitalWrite(L2, l2);
  digitalWrite(R1, r1);
  digitalWrite(R2, r2);


}

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