Arduino Obstacle Avoiding Talking Car

1#include "SoftwareSerial.h"
2#include "DFRobotDFPlayerMini.h"
3
4//  Use pins 2 and 3 to communicate with DFPlayer Mini
5static const uint8_t PIN_MP3_TX  = 2; // Connects to module's RX 
6static const uint8_t PIN_MP3_RX = 3; // Connects  to module's TX 
7SoftwareSerial softwareSerial(PIN_MP3_RX, PIN_MP3_TX);
8
9//  Create the Player object
10DFRobotDFPlayerMini player;
11/* define L298N or L293D  motor control pins */
12int In1 = A0;   /* GPIO15(D8) -> IN1  */
13int In2 = A1;  /* GPIO13(D7) -> IN2  */
14int In3 = A2;     /* GPIO2(D4) -> IN3   */
15int  In4 = A3;    /* GPIO0(D3) -> IN4   */
16
17
18int obstaclePin = A5;
19int hasObstacle  = HIGH;
20
21void setup()
22{
23  
24  pinMode(obstaclePin, INPUT);
25  /*  initialize motor control pins as output */
26  pinMode(In3, OUTPUT);
27  pinMode(In1,  OUTPUT); 
28  pinMode(In4, OUTPUT);  
29  pinMode(In2, OUTPUT);
30
31 // Init  USB serial port for debugging
32  Serial.begin(9600);
33  // Init serial port  for DFPlayer Mini
34  softwareSerial.begin(9600);
35
36  // Start communication  with DFPlayer Mini
37  if (player.begin(softwareSerial)) {
38   Serial.println("OK");
39
40    // Set volume to maximum (0 to 30).
41    player.volume(30);
42    // Play  the first MP3 file on the SD card
43    //player.play(1);
44  } else {
45    Serial.println("Connecting  to DFPlayer Mini failed!");
46  }
47
48}
49void loop()
50{
51   hasObstacle  = digitalRead(obstaclePin);
52  if (hasObstacle == LOW)
53  {
54   
55    MotorStop();
56    player.play(1);
57    delay(4000);
58    MotorBackward();
59    delay(300);
60    MotorStop();
61    delay(300);
62    player.play(1);
63    delay(3000);
64    TurnLeft();
65    delay(400);
66  }
67  else
68  {
69    
70    MotorForward();
71  }
72  delay(200);
73}
74
75void MotorForward(void)   
76{
77  
78  digitalWrite(In3,HIGH);
79  digitalWrite(In1,HIGH);
80  digitalWrite(In4,LOW);
81  digitalWrite(In2,LOW);
82}
83
84/*********************************************  BACKWARD *****************************************************/
85void MotorBackward(void)   
86{
87 
88  digitalWrite(In4,HIGH);
89  digitalWrite(In2,HIGH);
90  digitalWrite(In3,LOW);
91  digitalWrite(In1,LOW);
92}
93
94/*********************************************  TURN LEFT *****************************************************/
95void TurnLeft(void)   
96{
97  
98  digitalWrite(In3,LOW);
99  digitalWrite(In1,HIGH);
100  digitalWrite(In2,LOW);
101  digitalWrite(In4,HIGH);  
102}
103
104/*********************************************  TURN RIGHT *****************************************************/
105void TurnRight(void)   
106{
107 
108  digitalWrite(In3,HIGH);
109  digitalWrite(In1,LOW);
110  digitalWrite(In2,HIGH);
111  digitalWrite(In4,LOW);
112}
113
114/*********************************************  STOP *****************************************************/
115void MotorStop(void)   
116{
117  
118  digitalWrite(In3,LOW);
119  digitalWrite(In4,LOW);
120  digitalWrite(In1,LOW);
121  digitalWrite(In2,LOW);
122}
123