Robot that kicks soda cans

This is a robot that can move soda cans around it out of a circular arena

Nov 23, 2021

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robot

Components and supplies

3.7 V Battery (18650)

Rubber/Plastic wheel

9V battery (generic)

9V Battery Clip

DC Motor 6 V

Ultrasonic Sensor - HC-SR04 (Generic)

H Bridge L298N

Battery Holder, 18650 x 2

Jumper wires (generic)

Male/Female Jumper Wires

Arduino Mega 2560

Apps and platforms

Arduino IDE

Project description

Code

c_cpp

This is the code that needs to be loaded on the Arduino

1// NewPing library is included
2#include <NewPing.h> 
3// Here I declare   what is connected to each pin on the Arduino
4int ENA_LEFT = 22;
5int IN1_LEFT   = 24;
6int IN2_LEFT = 26;
7int IN3_LEFT = 28;
8int IN4_LEFT = 30;
9int ENB_LEFT   = 32;
10int ENA_RIGHT = 40;
11int IN1_RIGHT = 42;
12int IN2_RIGHT = 44;
13int   IN3_RIGHT = 46;
14int IN4_RIGHT = 48;
15int ENB_RIGHT = 50;
16int Distance;
17
18int   TRIGGER_PIN = 51;
19int ECHO_PIN = 53;
20int MAX_DISTANCE = 500;
21NewPing sonar(TRIGGER_PIN,   ECHO_PIN, MAX_DISTANCE);
22
23// All pins are declared as outputs
24// pins of   the sensor (TRIGGER AND ECHO) doesn't have to be declared here
25void setup() {
26   pinMode(ENA_LEFT, OUTPUT);
27  pinMode(IN1_LEFT, OUTPUT);
28  pinMode(IN2_LEFT,   OUTPUT);
29  pinMode(IN3_LEFT, OUTPUT);
30  pinMode(IN4_LEFT, OUTPUT);
31  pinMode(ENB_LEFT,   OUTPUT);
32  pinMode(ENA_RIGHT, OUTPUT);
33  pinMode(IN1_RIGHT, OUTPUT);
34  pinMode(IN2_RIGHT,   OUTPUT);
35  pinMode(IN3_RIGHT, OUTPUT);
36  pinMode(IN4_RIGHT, OUTPUT);
37  pinMode(ENB_RIGHT,   OUTPUT); 
38
39}
40
41void loop() {
42  // The sensor measures de distance   and stores in a variable called
43  // "Distance"
44  unsigned int uS = sonar.ping();
45   delay(32);
46  Distance = sonar.convert_cm(uS);
47  
48  // If the distance   is 57 or more the robot starts rotating in its own axis 
49  // 57 is the distance   in cm between a soda can and the sensor
50  // you can adjust this value if needed
51   if ((Distance > 57) or (Distance = 0)){
52    turn();
53  }
54  
55  // If   the distance is less than 57 cm it moves foward and then backwards
56  // 900 is   the time in miliseconds the motors stay turned on
57  // while moving foward or   backwards you can adjust this value if needed
58  else{
59    turn();
60    delay(50);
61     stop_();
62    foward();
63    delay(900);
64    stop_();
65    delay(400);
66     back();
67    delay(900);
68    stop_();
69     
70  }
71  
72}
73
74//   functions that are called on voidloop() 
75void foward(){
76  digitalWrite(ENA_LEFT,   HIGH);
77  digitalWrite(ENB_LEFT, HIGH);
78  digitalWrite(IN1_LEFT, HIGH);
79   digitalWrite(IN2_LEFT, LOW);
80  digitalWrite(IN3_LEFT, HIGH);
81  digitalWrite(IN4_LEFT,   LOW);
82
83  digitalWrite(ENA_RIGHT, HIGH);
84  digitalWrite(ENB_RIGHT, HIGH);
85   digitalWrite(IN1_RIGHT, HIGH);
86  digitalWrite(IN2_RIGHT, LOW);
87  digitalWrite(IN3_RIGHT,   HIGH);
88  digitalWrite(IN4_RIGHT, LOW);  
89}
90
91void stop_(){
92  digitalWrite(ENA_LEFT,   LOW);
93  digitalWrite(ENB_LEFT, LOW);
94  digitalWrite(ENA_RIGHT, LOW);
95  digitalWrite(ENB_RIGHT,   LOW); 
96}
97
98void back(){
99  digitalWrite(ENA_LEFT, HIGH);
100  digitalWrite(ENB_LEFT,   HIGH);
101  digitalWrite(IN1_LEFT, LOW);
102  digitalWrite(IN2_LEFT, HIGH);
103   digitalWrite(IN3_LEFT, LOW);
104  digitalWrite(IN4_LEFT, HIGH);
105
106  digitalWrite(ENA_RIGHT,   HIGH);
107  digitalWrite(ENB_RIGHT, HIGH);
108  digitalWrite(IN1_RIGHT, LOW);
109   digitalWrite(IN2_RIGHT, HIGH);
110  digitalWrite(IN3_RIGHT, LOW);
111  digitalWrite(IN4_RIGHT,   HIGH);
112}
113
114void turn(){
115  digitalWrite(ENB_RIGHT, HIGH);
116  digitalWrite(ENA_RIGHT,   HIGH);
117  digitalWrite(IN3_RIGHT, HIGH);
118  digitalWrite(IN4_RIGHT, LOW);
119   digitalWrite(IN1_RIGHT, HIGH);
120  digitalWrite(IN2_RIGHT, LOW);
121}
122

// NewPing library is included
#include <NewPing.h> 
// Here I declare   what is connected to each pin on the Arduino
int ENA_LEFT = 22;
int IN1_LEFT   = 24;
int IN2_LEFT = 26;
int IN3_LEFT = 28;
int IN4_LEFT = 30;
int ENB_LEFT   = 32;
int ENA_RIGHT = 40;
int IN1_RIGHT = 42;
int IN2_RIGHT = 44;
int   IN3_RIGHT = 46;
int IN4_RIGHT = 48;
int ENB_RIGHT = 50;
int Distance;

int   TRIGGER_PIN = 51;
int ECHO_PIN = 53;
int MAX_DISTANCE = 500;
NewPing sonar(TRIGGER_PIN,   ECHO_PIN, MAX_DISTANCE);

// All pins are declared as outputs
// pins of   the sensor (TRIGGER AND ECHO) doesn't have to be declared here
void setup() {
   pinMode(ENA_LEFT, OUTPUT);
  pinMode(IN1_LEFT, OUTPUT);
  pinMode(IN2_LEFT,   OUTPUT);
  pinMode(IN3_LEFT, OUTPUT);
  pinMode(IN4_LEFT, OUTPUT);
  pinMode(ENB_LEFT,   OUTPUT);
  pinMode(ENA_RIGHT, OUTPUT);
  pinMode(IN1_RIGHT, OUTPUT);
  pinMode(IN2_RIGHT,   OUTPUT);
  pinMode(IN3_RIGHT, OUTPUT);
  pinMode(IN4_RIGHT, OUTPUT);
  pinMode(ENB_RIGHT,   OUTPUT); 

}

void loop() {
  // The sensor measures de distance   and stores in a variable called
  // "Distance"
  unsigned int uS = sonar.ping();
   delay(32);
  Distance = sonar.convert_cm(uS);
  
  // If the distance   is 57 or more the robot starts rotating in its own axis 
  // 57 is the distance   in cm between a soda can and the sensor
  // you can adjust this value if needed
   if ((Distance > 57) or (Distance = 0)){
    turn();
  }
  
  // If   the distance is less than 57 cm it moves foward and then backwards
  // 900 is   the time in miliseconds the motors stay turned on
  // while moving foward or   backwards you can adjust this value if needed
  else{
    turn();
    delay(50);
     stop_();
    foward();
    delay(900);
    stop_();
    delay(400);
     back();
    delay(900);
    stop_();
     
  }
  
}

//   functions that are called on voidloop() 
void foward(){
  digitalWrite(ENA_LEFT,   HIGH);
  digitalWrite(ENB_LEFT, HIGH);
  digitalWrite(IN1_LEFT, HIGH);
   digitalWrite(IN2_LEFT, LOW);
  digitalWrite(IN3_LEFT, HIGH);
  digitalWrite(IN4_LEFT,   LOW);

  digitalWrite(ENA_RIGHT, HIGH);
  digitalWrite(ENB_RIGHT, HIGH);
   digitalWrite(IN1_RIGHT, HIGH);
  digitalWrite(IN2_RIGHT, LOW);
  digitalWrite(IN3_RIGHT,   HIGH);
  digitalWrite(IN4_RIGHT, LOW);  
}

void stop_(){
  digitalWrite(ENA_LEFT,   LOW);
  digitalWrite(ENB_LEFT, LOW);
  digitalWrite(ENA_RIGHT, LOW);
  digitalWrite(ENB_RIGHT,   LOW); 
}

void back(){
  digitalWrite(ENA_LEFT, HIGH);
  digitalWrite(ENB_LEFT,   HIGH);
  digitalWrite(IN1_LEFT, LOW);
  digitalWrite(IN2_LEFT, HIGH);
   digitalWrite(IN3_LEFT, LOW);
  digitalWrite(IN4_LEFT, HIGH);

  digitalWrite(ENA_RIGHT,   HIGH);
  digitalWrite(ENB_RIGHT, HIGH);
  digitalWrite(IN1_RIGHT, LOW);
   digitalWrite(IN2_RIGHT, HIGH);
  digitalWrite(IN3_RIGHT, LOW);
  digitalWrite(IN4_RIGHT,   HIGH);
}

void turn(){
  digitalWrite(ENB_RIGHT, HIGH);
  digitalWrite(ENA_RIGHT,   HIGH);
  digitalWrite(IN3_RIGHT, HIGH);
  digitalWrite(IN4_RIGHT, LOW);
   digitalWrite(IN1_RIGHT, HIGH);
  digitalWrite(IN2_RIGHT, LOW);
}

Code

c_cpp

This is the code that needs to be loaded on the Arduino

1// NewPing library is included
2#include <NewPing.h> 
3// Here I declare  what is connected to each pin on the Arduino
4int ENA_LEFT = 22;
5int IN1_LEFT  = 24;
6int IN2_LEFT = 26;
7int IN3_LEFT = 28;
8int IN4_LEFT = 30;
9int ENB_LEFT  = 32;
10int ENA_RIGHT = 40;
11int IN1_RIGHT = 42;
12int IN2_RIGHT = 44;
13int  IN3_RIGHT = 46;
14int IN4_RIGHT = 48;
15int ENB_RIGHT = 50;
16int Distance;
17
18int  TRIGGER_PIN = 51;
19int ECHO_PIN = 53;
20int MAX_DISTANCE = 500;
21NewPing sonar(TRIGGER_PIN,  ECHO_PIN, MAX_DISTANCE);
22
23// All pins are declared as outputs
24// pins of  the sensor (TRIGGER AND ECHO) doesn't have to be declared here
25void setup() {
26  pinMode(ENA_LEFT, OUTPUT);
27  pinMode(IN1_LEFT, OUTPUT);
28  pinMode(IN2_LEFT,  OUTPUT);
29  pinMode(IN3_LEFT, OUTPUT);
30  pinMode(IN4_LEFT, OUTPUT);
31  pinMode(ENB_LEFT,  OUTPUT);
32  pinMode(ENA_RIGHT, OUTPUT);
33  pinMode(IN1_RIGHT, OUTPUT);
34  pinMode(IN2_RIGHT,  OUTPUT);
35  pinMode(IN3_RIGHT, OUTPUT);
36  pinMode(IN4_RIGHT, OUTPUT);
37  pinMode(ENB_RIGHT,  OUTPUT); 
38
39}
40
41void loop() {
42  // The sensor measures de distance  and stores in a variable called
43  // "Distance"
44  unsigned int uS = sonar.ping();
45  delay(32);
46  Distance = sonar.convert_cm(uS);
47  
48  // If the distance  is 57 or more the robot starts rotating in its own axis 
49  // 57 is the distance  in cm between a soda can and the sensor
50  // you can adjust this value if needed
51  if ((Distance > 57) or (Distance = 0)){
52    turn();
53  }
54  
55  // If  the distance is less than 57 cm it moves foward and then backwards
56  // 900 is  the time in miliseconds the motors stay turned on
57  // while moving foward or  backwards you can adjust this value if needed
58  else{
59    turn();
60    delay(50);
61    stop_();
62    foward();
63    delay(900);
64    stop_();
65    delay(400);
66    back();
67    delay(900);
68    stop_();
69     
70  }
71  
72}
73
74//  functions that are called on voidloop() 
75void foward(){
76  digitalWrite(ENA_LEFT,  HIGH);
77  digitalWrite(ENB_LEFT, HIGH);
78  digitalWrite(IN1_LEFT, HIGH);
79  digitalWrite(IN2_LEFT, LOW);
80  digitalWrite(IN3_LEFT, HIGH);
81  digitalWrite(IN4_LEFT,  LOW);
82
83  digitalWrite(ENA_RIGHT, HIGH);
84  digitalWrite(ENB_RIGHT, HIGH);
85  digitalWrite(IN1_RIGHT, HIGH);
86  digitalWrite(IN2_RIGHT, LOW);
87  digitalWrite(IN3_RIGHT,  HIGH);
88  digitalWrite(IN4_RIGHT, LOW);  
89}
90
91void stop_(){
92  digitalWrite(ENA_LEFT,  LOW);
93  digitalWrite(ENB_LEFT, LOW);
94  digitalWrite(ENA_RIGHT, LOW);
95  digitalWrite(ENB_RIGHT,  LOW); 
96}
97
98void back(){
99  digitalWrite(ENA_LEFT, HIGH);
100  digitalWrite(ENB_LEFT,  HIGH);
101  digitalWrite(IN1_LEFT, LOW);
102  digitalWrite(IN2_LEFT, HIGH);
103  digitalWrite(IN3_LEFT, LOW);
104  digitalWrite(IN4_LEFT, HIGH);
105
106  digitalWrite(ENA_RIGHT,  HIGH);
107  digitalWrite(ENB_RIGHT, HIGH);
108  digitalWrite(IN1_RIGHT, LOW);
109  digitalWrite(IN2_RIGHT, HIGH);
110  digitalWrite(IN3_RIGHT, LOW);
111  digitalWrite(IN4_RIGHT,  HIGH);
112}
113
114void turn(){
115  digitalWrite(ENB_RIGHT, HIGH);
116  digitalWrite(ENA_RIGHT,  HIGH);
117  digitalWrite(IN3_RIGHT, HIGH);
118  digitalWrite(IN4_RIGHT, LOW);
119  digitalWrite(IN1_RIGHT, HIGH);
120  digitalWrite(IN2_RIGHT, LOW);
121}
122

// NewPing library is included
#include <NewPing.h> 
// Here I declare  what is connected to each pin on the Arduino
int ENA_LEFT = 22;
int IN1_LEFT  = 24;
int IN2_LEFT = 26;
int IN3_LEFT = 28;
int IN4_LEFT = 30;
int ENB_LEFT  = 32;
int ENA_RIGHT = 40;
int IN1_RIGHT = 42;
int IN2_RIGHT = 44;
int  IN3_RIGHT = 46;
int IN4_RIGHT = 48;
int ENB_RIGHT = 50;
int Distance;

int  TRIGGER_PIN = 51;
int ECHO_PIN = 53;
int MAX_DISTANCE = 500;
NewPing sonar(TRIGGER_PIN,  ECHO_PIN, MAX_DISTANCE);

// All pins are declared as outputs
// pins of  the sensor (TRIGGER AND ECHO) doesn't have to be declared here
void setup() {
  pinMode(ENA_LEFT, OUTPUT);
  pinMode(IN1_LEFT, OUTPUT);
  pinMode(IN2_LEFT,  OUTPUT);
  pinMode(IN3_LEFT, OUTPUT);
  pinMode(IN4_LEFT, OUTPUT);
  pinMode(ENB_LEFT,  OUTPUT);
  pinMode(ENA_RIGHT, OUTPUT);
  pinMode(IN1_RIGHT, OUTPUT);
  pinMode(IN2_RIGHT,  OUTPUT);
  pinMode(IN3_RIGHT, OUTPUT);
  pinMode(IN4_RIGHT, OUTPUT);
  pinMode(ENB_RIGHT,  OUTPUT); 

}

void loop() {
  // The sensor measures de distance  and stores in a variable called
  // "Distance"
  unsigned int uS = sonar.ping();
  delay(32);
  Distance = sonar.convert_cm(uS);
  
  // If the distance  is 57 or more the robot starts rotating in its own axis 
  // 57 is the distance  in cm between a soda can and the sensor
  // you can adjust this value if needed
  if ((Distance > 57) or (Distance = 0)){
    turn();
  }
  
  // If  the distance is less than 57 cm it moves foward and then backwards
  // 900 is  the time in miliseconds the motors stay turned on
  // while moving foward or  backwards you can adjust this value if needed
  else{
    turn();
    delay(50);
    stop_();
    foward();
    delay(900);
    stop_();
    delay(400);
    back();
    delay(900);
    stop_();
     
  }
  
}

//  functions that are called on voidloop() 
void foward(){
  digitalWrite(ENA_LEFT,  HIGH);
  digitalWrite(ENB_LEFT, HIGH);
  digitalWrite(IN1_LEFT, HIGH);
  digitalWrite(IN2_LEFT, LOW);
  digitalWrite(IN3_LEFT, HIGH);
  digitalWrite(IN4_LEFT,  LOW);

  digitalWrite(ENA_RIGHT, HIGH);
  digitalWrite(ENB_RIGHT, HIGH);
  digitalWrite(IN1_RIGHT, HIGH);
  digitalWrite(IN2_RIGHT, LOW);
  digitalWrite(IN3_RIGHT,  HIGH);
  digitalWrite(IN4_RIGHT, LOW);  
}

void stop_(){
  digitalWrite(ENA_LEFT,  LOW);
  digitalWrite(ENB_LEFT, LOW);
  digitalWrite(ENA_RIGHT, LOW);
  digitalWrite(ENB_RIGHT,  LOW); 
}

void back(){
  digitalWrite(ENA_LEFT, HIGH);
  digitalWrite(ENB_LEFT,  HIGH);
  digitalWrite(IN1_LEFT, LOW);
  digitalWrite(IN2_LEFT, HIGH);
  digitalWrite(IN3_LEFT, LOW);
  digitalWrite(IN4_LEFT, HIGH);

  digitalWrite(ENA_RIGHT,  HIGH);
  digitalWrite(ENB_RIGHT, HIGH);
  digitalWrite(IN1_RIGHT, LOW);
  digitalWrite(IN2_RIGHT, HIGH);
  digitalWrite(IN3_RIGHT, LOW);
  digitalWrite(IN4_RIGHT,  HIGH);
}

void turn(){
  digitalWrite(ENB_RIGHT, HIGH);
  digitalWrite(ENA_RIGHT,  HIGH);
  digitalWrite(IN3_RIGHT, HIGH);
  digitalWrite(IN4_RIGHT, LOW);
  digitalWrite(IN1_RIGHT, HIGH);
  digitalWrite(IN2_RIGHT, LOW);
}

Downloadable files

Diagram

This diagram shows the connections of each component

Diagram

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