Arduino Obstacle Avoiding Car using Servo and L298N Driver

The smart car which can find it's own way

Jun 10, 2020

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Components and supplies

DC Motor, 12 V

SG90 Micro-servo motor

Jumper wires (generic)

Ultrasonic Sensor - HC-SR04 (Generic)

Solderless Breadboard Half Size

Arduino UNO

Dual H-Bridge motor drivers L298

9V battery (generic)

Tools and machines

New Ping Library

Hot glue gun (generic)

Tape, Double Sided

Apps and platforms

Arduino IDE

Project description

Code

CODE

c_cpp

1#include <Servo.h>          //standard library for the servo
2#include   <NewPing.h>        //for the Ultrasonic sensor function library.
3
4//L298N   motor control pins
5const int LeftMotorForward = 6;
6const int LeftMotorBackward   = 7;
7const int RightMotorForward = 5;
8const int RightMotorBackward = 4;
9
10//sensor   pins
11#define trig_pin A1 //analog input 1
12#define echo_pin A2 //analog input   2
13
14#define maximum_distance 200
15boolean goesForward = false;
16int distance   = 100;
17
18NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
19Servo   servo_motor; 
20
21void setup(){
22
23  pinMode(RightMotorForward, OUTPUT);
24   pinMode(LeftMotorForward, OUTPUT);
25  pinMode(LeftMotorBackward, OUTPUT);
26   pinMode(RightMotorBackward, OUTPUT);
27  
28  servo_motor.attach(9); //our servo   pin
29
30  servo_motor.write(115);
31  delay(2000);
32  distance = readPing();
33   delay(100);
34  distance = readPing();
35  delay(100);
36  distance = readPing();
37   delay(100);
38  distance = readPing();
39  delay(100);
40}
41
42void loop(){
43
44   int distanceRight = 0;
45  int distanceLeft = 0;
46  delay(50);
47
48  if   (distance <= 20){
49    moveStop();
50    delay(300);
51    moveBackward();
52     delay(400);
53    moveStop();
54    delay(300);
55    distanceRight = lookRight();
56     delay(300);
57    distanceLeft = lookLeft();
58    delay(300);
59
60    if   (distance >= distanceLeft){
61      turnRight();
62      moveStop();
63    }
64     else{
65      turnLeft();
66      moveStop();
67    }
68  }
69  else{
70     moveForward(); 
71  }
72    distance = readPing();
73}
74
75int lookRight(){   
76  servo_motor.write(50);
77  delay(500);
78  int distance = readPing();
79   delay(100);
80  servo_motor.write(115);
81  return distance;
82}
83
84int   lookLeft(){
85  servo_motor.write(170);
86  delay(500);
87  int distance = readPing();
88   delay(100);
89  servo_motor.write(115);
90  return distance;
91  delay(100);
92}
93
94int   readPing(){
95  delay(70);
96  int cm = sonar.ping_cm();
97  if (cm==0){
98     cm=250;
99  }
100  return cm;
101}
102
103void moveStop(){
104  
105  digitalWrite(RightMotorForward,   LOW);
106  digitalWrite(LeftMotorForward, LOW);
107  digitalWrite(RightMotorBackward,   LOW);
108  digitalWrite(LeftMotorBackward, LOW);
109}
110
111void moveForward(){
112
113   if(!goesForward){
114
115    goesForward=true;
116    
117    digitalWrite(LeftMotorForward,   HIGH);
118    digitalWrite(RightMotorForward, HIGH);
119  
120    digitalWrite(LeftMotorBackward,   LOW);
121    digitalWrite(RightMotorBackward, LOW); 
122  }
123}
124
125void moveBackward(){
126
127   goesForward=false;
128
129  digitalWrite(LeftMotorBackward, HIGH);
130  digitalWrite(RightMotorBackward,   HIGH);
131  
132  digitalWrite(LeftMotorForward, LOW);
133  digitalWrite(RightMotorForward,   LOW);
134  
135}
136
137void turnRight(){
138
139  digitalWrite(LeftMotorForward,   HIGH);
140  digitalWrite(RightMotorBackward, HIGH);
141  
142  digitalWrite(LeftMotorBackward,   LOW);
143  digitalWrite(RightMotorForward, LOW);
144  
145  delay(500);
146  
147   digitalWrite(LeftMotorForward, HIGH);
148  digitalWrite(RightMotorForward, HIGH);
149   
150  digitalWrite(LeftMotorBackward, LOW);
151  digitalWrite(RightMotorBackward,   LOW);
152 
153  
154  
155}
156
157void turnLeft(){
158
159  digitalWrite(LeftMotorBackward,   HIGH);
160  digitalWrite(RightMotorForward, HIGH);
161  
162  digitalWrite(LeftMotorForward,   LOW);
163  digitalWrite(RightMotorBackward, LOW);
164
165  delay(500);
166  
167   digitalWrite(LeftMotorForward, HIGH);
168  digitalWrite(RightMotorForward, HIGH);
169   
170  digitalWrite(LeftMotorBackward, LOW);
171  digitalWrite(RightMotorBackward,   LOW);
172}
173
174

#include <Servo.h>          //standard library for the servo
#include   <NewPing.h>        //for the Ultrasonic sensor function library.

//L298N   motor control pins
const int LeftMotorForward = 6;
const int LeftMotorBackward   = 7;
const int RightMotorForward = 5;
const int RightMotorBackward = 4;

//sensor   pins
#define trig_pin A1 //analog input 1
#define echo_pin A2 //analog input   2

#define maximum_distance 200
boolean goesForward = false;
int distance   = 100;

NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
Servo   servo_motor; 

void setup(){

  pinMode(RightMotorForward, OUTPUT);
   pinMode(LeftMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
   pinMode(RightMotorBackward, OUTPUT);
  
  servo_motor.attach(9); //our servo   pin

  servo_motor.write(115);
  delay(2000);
  distance = readPing();
   delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
   delay(100);
  distance = readPing();
  delay(100);
}

void loop(){

   int distanceRight = 0;
  int distanceLeft = 0;
  delay(50);

  if   (distance <= 20){
    moveStop();
    delay(300);
    moveBackward();
     delay(400);
    moveStop();
    delay(300);
    distanceRight = lookRight();
     delay(300);
    distanceLeft = lookLeft();
    delay(300);

    if   (distance >= distanceLeft){
      turnRight();
      moveStop();
    }
     else{
      turnLeft();
      moveStop();
    }
  }
  else{
     moveForward(); 
  }
    distance = readPing();
}

int lookRight(){   
  servo_motor.write(50);
  delay(500);
  int distance = readPing();
   delay(100);
  servo_motor.write(115);
  return distance;
}

int   lookLeft(){
  servo_motor.write(170);
  delay(500);
  int distance = readPing();
   delay(100);
  servo_motor.write(115);
  return distance;
  delay(100);
}

int   readPing(){
  delay(70);
  int cm = sonar.ping_cm();
  if (cm==0){
     cm=250;
  }
  return cm;
}

void moveStop(){
  
  digitalWrite(RightMotorForward,   LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorBackward,   LOW);
  digitalWrite(LeftMotorBackward, LOW);
}

void moveForward(){

   if(!goesForward){

    goesForward=true;
    
    digitalWrite(LeftMotorForward,   HIGH);
    digitalWrite(RightMotorForward, HIGH);
  
    digitalWrite(LeftMotorBackward,   LOW);
    digitalWrite(RightMotorBackward, LOW); 
  }
}

void moveBackward(){

   goesForward=false;

  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorBackward,   HIGH);
  
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorForward,   LOW);
  
}

void turnRight(){

  digitalWrite(LeftMotorForward,   HIGH);
  digitalWrite(RightMotorBackward, HIGH);
  
  digitalWrite(LeftMotorBackward,   LOW);
  digitalWrite(RightMotorForward, LOW);
  
  delay(500);
  
   digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, HIGH);
   
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward,   LOW);
 
  
  
}

void turnLeft(){

  digitalWrite(LeftMotorBackward,   HIGH);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorForward,   LOW);
  digitalWrite(RightMotorBackward, LOW);

  delay(500);
  
   digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, HIGH);
   
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward,   LOW);
}

CODE

c_cpp

1#include <Servo.h>          //standard library for the servo
2#include
3  <NewPing.h>        //for the Ultrasonic sensor function library.
4
5//L298N
6  motor control pins
7const int LeftMotorForward = 6;
8const int LeftMotorBackward
9  = 7;
10const int RightMotorForward = 5;
11const int RightMotorBackward = 4;
12
13//sensor
14  pins
15#define trig_pin A1 //analog input 1
16#define echo_pin A2 //analog input
17  2
18
19#define maximum_distance 200
20boolean goesForward = false;
21int distance
22  = 100;
23
24NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
25Servo
26  servo_motor; 
27
28void setup(){
29
30  pinMode(RightMotorForward, OUTPUT);
31
32  pinMode(LeftMotorForward, OUTPUT);
33  pinMode(LeftMotorBackward, OUTPUT);
34
35  pinMode(RightMotorBackward, OUTPUT);
36  
37  servo_motor.attach(9); //our servo
38  pin
39
40  servo_motor.write(115);
41  delay(2000);
42  distance = readPing();
43
44  delay(100);
45  distance = readPing();
46  delay(100);
47  distance = readPing();
48
49  delay(100);
50  distance = readPing();
51  delay(100);
52}
53
54void loop(){
55
56
57  int distanceRight = 0;
58  int distanceLeft = 0;
59  delay(50);
60
61  if
62  (distance <= 20){
63    moveStop();
64    delay(300);
65    moveBackward();
66
67    delay(400);
68    moveStop();
69    delay(300);
70    distanceRight = lookRight();
71
72    delay(300);
73    distanceLeft = lookLeft();
74    delay(300);
75
76    if
77  (distance >= distanceLeft){
78      turnRight();
79      moveStop();
80    }
81
82    else{
83      turnLeft();
84      moveStop();
85    }
86  }
87  else{
88
89    moveForward(); 
90  }
91    distance = readPing();
92}
93
94int lookRight(){
95  
96  servo_motor.write(50);
97  delay(500);
98  int distance = readPing();
99
100  delay(100);
101  servo_motor.write(115);
102  return distance;
103}
104
105int
106  lookLeft(){
107  servo_motor.write(170);
108  delay(500);
109  int distance = readPing();
110
111  delay(100);
112  servo_motor.write(115);
113  return distance;
114  delay(100);
115}
116
117int
118  readPing(){
119  delay(70);
120  int cm = sonar.ping_cm();
121  if (cm==0){
122
123    cm=250;
124  }
125  return cm;
126}
127
128void moveStop(){
129  
130  digitalWrite(RightMotorForward,
131  LOW);
132  digitalWrite(LeftMotorForward, LOW);
133  digitalWrite(RightMotorBackward,
134  LOW);
135  digitalWrite(LeftMotorBackward, LOW);
136}
137
138void moveForward(){
139
140
141  if(!goesForward){
142
143    goesForward=true;
144    
145    digitalWrite(LeftMotorForward,
146  HIGH);
147    digitalWrite(RightMotorForward, HIGH);
148  
149    digitalWrite(LeftMotorBackward,
150  LOW);
151    digitalWrite(RightMotorBackward, LOW); 
152  }
153}
154
155void moveBackward(){
156
157
158  goesForward=false;
159
160  digitalWrite(LeftMotorBackward, HIGH);
161  digitalWrite(RightMotorBackward,
162  HIGH);
163  
164  digitalWrite(LeftMotorForward, LOW);
165  digitalWrite(RightMotorForward,
166  LOW);
167  
168}
169
170void turnRight(){
171
172  digitalWrite(LeftMotorForward,
173  HIGH);
174  digitalWrite(RightMotorBackward, HIGH);
175  
176  digitalWrite(LeftMotorBackward,
177  LOW);
178  digitalWrite(RightMotorForward, LOW);
179  
180  delay(500);
181  
182
183  digitalWrite(LeftMotorForward, HIGH);
184  digitalWrite(RightMotorForward, HIGH);
185
186  
187  digitalWrite(LeftMotorBackward, LOW);
188  digitalWrite(RightMotorBackward,
189  LOW);
190 
191  
192  
193}
194
195void turnLeft(){
196
197  digitalWrite(LeftMotorBackward,
198  HIGH);
199  digitalWrite(RightMotorForward, HIGH);
200  
201  digitalWrite(LeftMotorForward,
202  LOW);
203  digitalWrite(RightMotorBackward, LOW);
204
205  delay(500);
206  
207
208  digitalWrite(LeftMotorForward, HIGH);
209  digitalWrite(RightMotorForward, HIGH);
210
211  
212  digitalWrite(LeftMotorBackward, LOW);
213  digitalWrite(RightMotorBackward,
214  LOW);
215}
216
217

#include <Servo.h>          //standard library for the servo
#include
  <NewPing.h>        //for the Ultrasonic sensor function library.

//L298N
  motor control pins
const int LeftMotorForward = 6;
const int LeftMotorBackward
  = 7;
const int RightMotorForward = 5;
const int RightMotorBackward = 4;

//sensor
  pins
#define trig_pin A1 //analog input 1
#define echo_pin A2 //analog input
  2

#define maximum_distance 200
boolean goesForward = false;
int distance
  = 100;

NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
Servo
  servo_motor; 

void setup(){

  pinMode(RightMotorForward, OUTPUT);

  pinMode(LeftMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);

  pinMode(RightMotorBackward, OUTPUT);
  
  servo_motor.attach(9); //our servo
  pin

  servo_motor.write(115);
  delay(2000);
  distance = readPing();

  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();

  delay(100);
  distance = readPing();
  delay(100);
}

void loop(){


  int distanceRight = 0;
  int distanceLeft = 0;
  delay(50);

  if
  (distance <= 20){
    moveStop();
    delay(300);
    moveBackward();

    delay(400);
    moveStop();
    delay(300);
    distanceRight = lookRight();

    delay(300);
    distanceLeft = lookLeft();
    delay(300);

    if
  (distance >= distanceLeft){
      turnRight();
      moveStop();
    }

    else{
      turnLeft();
      moveStop();
    }
  }
  else{

    moveForward(); 
  }
    distance = readPing();
}

int lookRight(){
  
  servo_motor.write(50);
  delay(500);
  int distance = readPing();

  delay(100);
  servo_motor.write(115);
  return distance;
}

int
  lookLeft(){
  servo_motor.write(170);
  delay(500);
  int distance = readPing();

  delay(100);
  servo_motor.write(115);
  return distance;
  delay(100);
}

int
  readPing(){
  delay(70);
  int cm = sonar.ping_cm();
  if (cm==0){

    cm=250;
  }
  return cm;
}

void moveStop(){
  
  digitalWrite(RightMotorForward,
  LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorBackward,
  LOW);
  digitalWrite(LeftMotorBackward, LOW);
}

void moveForward(){


  if(!goesForward){

    goesForward=true;
    
    digitalWrite(LeftMotorForward,
  HIGH);
    digitalWrite(RightMotorForward, HIGH);
  
    digitalWrite(LeftMotorBackward,
  LOW);
    digitalWrite(RightMotorBackward, LOW); 
  }
}

void moveBackward(){


  goesForward=false;

  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorBackward,
  HIGH);
  
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorForward,
  LOW);
  
}

void turnRight(){

  digitalWrite(LeftMotorForward,
  HIGH);
  digitalWrite(RightMotorBackward, HIGH);
  
  digitalWrite(LeftMotorBackward,
  LOW);
  digitalWrite(RightMotorForward, LOW);
  
  delay(500);
  

  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, HIGH);

  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward,
  LOW);
 
  
  
}

void turnLeft(){

  digitalWrite(LeftMotorBackward,
  HIGH);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorForward,
  LOW);
  digitalWrite(RightMotorBackward, LOW);

  delay(500);
  

  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, HIGH);

  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward,
  LOW);
}

Downloadable files

Schematics

full schematic diagram

Schematics

CODE

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