Arduino Obstacle Avoiding Car

1//ARDUINO OBSTACLE AVOIDING CAR//
2// Before uploading the code you  have to install the necessary library//
3//AFMotor Library https://learn.adafruit.com/adafruit-motor-shield/library//-install  //
4//NewPing Library https://github.com/livetronic/Arduino-NewPing// 
5//Servo  Library https://github.com/arduino-libraries/Servo.git //
6// To Install the libraries  go to sketch >> Include Library >> ManageLibrary
7//search and download library
8
9
10#include  <AFMotor.h>  
11#include <NewPing.h>
12#include <Servo.h> 
13
14#define TRIG_PIN  A0 
15#define ECHO_PIN A1 
16#define MAX_DISTANCE 200 
17#define MAX_SPEED 190  // sets speed of DC  motors
18#define MAX_SPEED_OFFSET 20
19
20NewPing sonar(TRIG_PIN,  ECHO_PIN, MAX_DISTANCE); 
21
22AF_DCMotor motor1(1, MOTOR12_1KHZ); 
23AF_DCMotor  motor2(2, MOTOR12_1KHZ);
24AF_DCMotor motor3(3, MOTOR34_1KHZ);
25AF_DCMotor motor4(4,  MOTOR34_1KHZ);
26Servo myservo;   
27
28boolean goesForward=false;
29int distance  = 100;
30int speedSet = 0;
31
32void setup() {
33
34  myservo.attach(10);  
35  myservo.write(115); 
36  delay(2000);
37  distance = readPing();
38  delay(100);
39  distance = readPing();
40  delay(100);
41  distance = readPing();
42  delay(100);
43  distance = readPing();
44  delay(100);
45}
46
47void loop() {
48 int distanceR  = 0;
49 int distanceL =  0;
50 delay(40);
51 
52 if(distance<=15)
53 {
54  moveStop();
55  delay(100);
56  moveBackward();
57  delay(300);
58  moveStop();
59  delay(200);
60  distanceR = lookRight();
61  delay(200);
62  distanceL = lookLeft();
63  delay(200);
64
65  if(distanceR>=distanceL)
66  {
67    turnRight();
68    moveStop();
69  }else
70  {
71    turnLeft();
72    moveStop();
73  }
74 }else
75 {
76  moveForward();
77 }
78 distance = readPing();
79}
80
81int lookRight()
82{
83    myservo.write(50); 
84    delay(500);
85    int distance = readPing();
86    delay(100);
87    myservo.write(115); 
88    return distance;
89}
90
91int  lookLeft()
92{
93    myservo.write(170); 
94    delay(500);
95    int distance  = readPing();
96    delay(100);
97    myservo.write(115); 
98    return distance;
99    delay(100);
100}
101
102int readPing() { 
103  delay(70);
104  int cm = sonar.ping_cm();
105  if(cm==0)
106  {
107    cm = 250;
108  }
109  return cm;
110}
111
112void moveStop()  {
113  motor1.run(RELEASE); 
114  motor2.run(RELEASE);
115  motor3.run(RELEASE);
116  motor4.run(RELEASE);
117  } 
118  
119void moveForward() {
120
121 if(!goesForward)
122  {
123    goesForward=true;
124    motor1.run(FORWARD);      
125    motor2.run(FORWARD);
126    motor3.run(FORWARD); 
127    motor4.run(FORWARD);     
128   for (speedSet =  0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading  down the batteries too quickly
129   {
130    motor1.setSpeed(speedSet);
131    motor2.setSpeed(speedSet);
132    motor3.setSpeed(speedSet);
133    motor4.setSpeed(speedSet);
134    delay(5);
135   }
136  }
137}
138
139void moveBackward() {
140    goesForward=false;
141    motor1.run(BACKWARD);      
142    motor2.run(BACKWARD);
143    motor3.run(BACKWARD);
144    motor4.run(BACKWARD);  
145  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the  speed up to avoid loading down the batteries too quickly
146  {
147    motor1.setSpeed(speedSet);
148    motor2.setSpeed(speedSet);
149    motor3.setSpeed(speedSet);
150    motor4.setSpeed(speedSet);
151    delay(5);
152  }
153}  
154
155void turnRight() {
156  motor1.run(FORWARD);
157  motor2.run(FORWARD);
158  motor3.run(BACKWARD);
159  motor4.run(BACKWARD);     
160  delay(500);
161  motor1.run(FORWARD);      
162  motor2.run(FORWARD);
163  motor3.run(FORWARD);
164  motor4.run(FORWARD);      
165} 
166 
167void turnLeft() {
168  motor1.run(BACKWARD);     
169  motor2.run(BACKWARD);  
170  motor3.run(FORWARD);
171  motor4.run(FORWARD);   
172  delay(500);
173  motor1.run(FORWARD);     
174  motor2.run(FORWARD);
175  motor3.run(FORWARD);
176  motor4.run(FORWARD);
177}  
178

1//ARDUINO OBSTACLE AVOIDING CAR//
2// Before uploading the code you
3  have to install the necessary library//
4//AFMotor Library https://learn.adafruit.com/adafruit-motor-shield/library//-install
5  //
6//NewPing Library https://github.com/livetronic/Arduino-NewPing// 
7//Servo
8  Library https://github.com/arduino-libraries/Servo.git //
9// To Install the libraries
10  go to sketch >> Include Library >> ManageLibrary
11//search and download library
12
13
14#include
15  <AFMotor.h>  
16#include <NewPing.h>
17#include <Servo.h> 
18
19#define TRIG_PIN
20  A0 
21#define ECHO_PIN A1 
22#define MAX_DISTANCE 200 
23#define MAX_SPEED 190
24  // sets speed of DC  motors
25#define MAX_SPEED_OFFSET 20
26
27NewPing sonar(TRIG_PIN,
28  ECHO_PIN, MAX_DISTANCE); 
29
30AF_DCMotor motor1(1, MOTOR12_1KHZ); 
31AF_DCMotor
32  motor2(2, MOTOR12_1KHZ);
33AF_DCMotor motor3(3, MOTOR34_1KHZ);
34AF_DCMotor motor4(4,
35  MOTOR34_1KHZ);
36Servo myservo;   
37
38boolean goesForward=false;
39int distance
40  = 100;
41int speedSet = 0;
42
43void setup() {
44
45  myservo.attach(10);  
46
47  myservo.write(115); 
48  delay(2000);
49  distance = readPing();
50  delay(100);
51
52  distance = readPing();
53  delay(100);
54  distance = readPing();
55  delay(100);
56
57  distance = readPing();
58  delay(100);
59}
60
61void loop() {
62 int distanceR
63  = 0;
64 int distanceL =  0;
65 delay(40);
66 
67 if(distance<=15)
68 {
69
70  moveStop();
71  delay(100);
72  moveBackward();
73  delay(300);
74  moveStop();
75
76  delay(200);
77  distanceR = lookRight();
78  delay(200);
79  distanceL = lookLeft();
80
81  delay(200);
82
83  if(distanceR>=distanceL)
84  {
85    turnRight();
86    moveStop();
87
88  }else
89  {
90    turnLeft();
91    moveStop();
92  }
93 }else
94 {
95
96  moveForward();
97 }
98 distance = readPing();
99}
100
101int lookRight()
102{
103
104    myservo.write(50); 
105    delay(500);
106    int distance = readPing();
107
108    delay(100);
109    myservo.write(115); 
110    return distance;
111}
112
113int
114  lookLeft()
115{
116    myservo.write(170); 
117    delay(500);
118    int distance
119  = readPing();
120    delay(100);
121    myservo.write(115); 
122    return distance;
123
124    delay(100);
125}
126
127int readPing() { 
128  delay(70);
129  int cm = sonar.ping_cm();
130
131  if(cm==0)
132  {
133    cm = 250;
134  }
135  return cm;
136}
137
138void moveStop()
139  {
140  motor1.run(RELEASE); 
141  motor2.run(RELEASE);
142  motor3.run(RELEASE);
143
144  motor4.run(RELEASE);
145  } 
146  
147void moveForward() {
148
149 if(!goesForward)
150
151  {
152    goesForward=true;
153    motor1.run(FORWARD);      
154    motor2.run(FORWARD);
155
156    motor3.run(FORWARD); 
157    motor4.run(FORWARD);     
158   for (speedSet =
159  0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading
160  down the batteries too quickly
161   {
162    motor1.setSpeed(speedSet);
163    motor2.setSpeed(speedSet);
164
165    motor3.setSpeed(speedSet);
166    motor4.setSpeed(speedSet);
167    delay(5);
168
169   }
170  }
171}
172
173void moveBackward() {
174    goesForward=false;
175    motor1.run(BACKWARD);
176      
177    motor2.run(BACKWARD);
178    motor3.run(BACKWARD);
179    motor4.run(BACKWARD);
180  
181  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the
182  speed up to avoid loading down the batteries too quickly
183  {
184    motor1.setSpeed(speedSet);
185
186    motor2.setSpeed(speedSet);
187    motor3.setSpeed(speedSet);
188    motor4.setSpeed(speedSet);
189
190    delay(5);
191  }
192}  
193
194void turnRight() {
195  motor1.run(FORWARD);
196
197  motor2.run(FORWARD);
198  motor3.run(BACKWARD);
199  motor4.run(BACKWARD);     
200
201  delay(500);
202  motor1.run(FORWARD);      
203  motor2.run(FORWARD);
204  motor3.run(FORWARD);
205
206  motor4.run(FORWARD);      
207} 
208 
209void turnLeft() {
210  motor1.run(BACKWARD);
211     
212  motor2.run(BACKWARD);  
213  motor3.run(FORWARD);
214  motor4.run(FORWARD);
215   
216  delay(500);
217  motor1.run(FORWARD);     
218  motor2.run(FORWARD);
219
220  motor3.run(FORWARD);
221  motor4.run(FORWARD);
222}  
223