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rhandycan1

Obstacle Avoidance Robot

rhandycan1
May 31st, 2025
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  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 >> Add .ZIP File >> Select the Downloaded ZIP files From the Above links //
  7.  
  8.  
  9. #include <AFMotor.h>  
  10. #include <NewPing.h>
  11. #include <Servo.h>
  12.  
  13. #define TRIG_PIN A0
  14. #define ECHO_PIN A1
  15. #define MAX_DISTANCE 230
  16. #define MAX_SPEED 255 // sets speed of DC  motors
  17. #define MAX_SPEED_OFFSET 20
  18.  
  19. NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
  20.  
  21. AF_DCMotor motor1(1, MOTOR12_1KHZ);
  22. AF_DCMotor motor2(2, MOTOR12_1KHZ);
  23. AF_DCMotor motor3(3, MOTOR34_1KHZ);
  24. AF_DCMotor motor4(4, MOTOR34_1KHZ);
  25. Servo myservo;  
  26.  
  27. boolean goesForward=false;
  28. int distance = 100;
  29. int speedSet = 0;
  30.  
  31. void setup() {
  32.  
  33.   myservo.attach(10);  
  34.   myservo.write(90);
  35.   delay(2000);
  36.   distance = readPing();
  37.   delay(100);
  38.   distance = readPing();
  39.   delay(100);
  40.   distance = readPing();
  41.   delay(100);
  42.   distance = readPing();
  43.   delay(100);
  44. }
  45.  
  46. void loop() {
  47.  int distanceR = 0;
  48.  int distanceL =  0;
  49.  delay(40);
  50.  
  51.  if(distance<=15)
  52.  {
  53.   moveStop();
  54.   delay(100);
  55.   moveBackward();
  56.   delay(300);
  57.   moveStop();
  58.   delay(200);
  59.   distanceR = lookRight();
  60.   delay(200);
  61.   distanceL = lookLeft();
  62.   delay(200);
  63.  
  64.   if(distanceR>=distanceL)
  65.   {
  66.     turnRight();
  67.     moveStop();
  68.   }else
  69.   {
  70.     turnLeft();
  71.     moveStop();
  72.   }
  73.  }else
  74.  {
  75.   moveForward();
  76.  }
  77.  distance = readPing();
  78. }
  79.  
  80. int lookRight()
  81. {
  82.     myservo.write(0);
  83.     delay(500);
  84.     int distance = readPing();
  85.     delay(100);
  86.     myservo.write(90);
  87.     return distance;
  88. }
  89.  
  90. int lookLeft()
  91. {
  92.     myservo.write(180);
  93.     delay(500);
  94.     int distance = readPing();
  95.     delay(100);
  96.     myservo.write(90);
  97.     return distance;
  98.     delay(100);
  99. }
  100.  
  101. int readPing() {
  102.   delay(70);
  103.   int cm = sonar.ping_cm();
  104.   if(cm==0)
  105.   {
  106.     cm = 250;
  107.   }
  108.   return cm;
  109. }
  110.  
  111. void moveStop() {
  112.   motor1.run(RELEASE);
  113.   motor2.run(RELEASE);
  114.   motor3.run(RELEASE);
  115.   motor4.run(RELEASE);
  116.   }
  117.  
  118. void moveForward() {
  119.  
  120.  if(!goesForward)
  121.   {
  122.     goesForward=true;
  123.     motor1.run(FORWARD);      
  124.     motor2.run(FORWARD);
  125.     motor3.run(FORWARD);
  126.     motor4.run(FORWARD);    
  127.    for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
  128.    {
  129.     motor1.setSpeed(speedSet);
  130.     motor2.setSpeed(speedSet);
  131.     motor3.setSpeed(speedSet);
  132.     motor4.setSpeed(speedSet);
  133.     delay(5);
  134.    }
  135.   }
  136. }
  137.  
  138. void moveBackward() {
  139.     goesForward=false;
  140.     motor1.run(BACKWARD);      
  141.     motor2.run(BACKWARD);
  142.     motor3.run(BACKWARD);
  143.     motor4.run(BACKWARD);  
  144.   for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
  145.   {
  146.     motor1.setSpeed(speedSet);
  147.     motor2.setSpeed(speedSet);
  148.     motor3.setSpeed(speedSet);
  149.     motor4.setSpeed(speedSet);
  150.     delay(5);
  151.   }
  152. }  
  153.  
  154. void turnRight() {
  155.   motor1.setSpeed(255);
  156.   motor2.setSpeed(255);
  157.   motor3.setSpeed(255);
  158.   motor4.setSpeed(255);
  159.   motor1.run(BACKWARD);
  160.   motor2.run(FORWARD);
  161.   motor3.run(FORWARD);
  162.   motor4.run(BACKWARD);
  163.   delay(1000);
  164.   motor1.run(BACKWARD);      
  165.   motor2.run(BACKWARD);
  166.   motor3.run(BACKWARD);
  167.   motor4.run(BACKWARD);      
  168. }
  169.  
  170. void turnLeft() {
  171.   motor1.setSpeed(255);
  172.   motor2.setSpeed(255);
  173.   motor3.setSpeed(255);
  174.   motor4.setSpeed(255);
  175.   motor1.run(FORWARD);
  176.   motor2.run(BACKWARD);
  177.   motor3.run(BACKWARD);
  178.   motor4.run(FORWARD);
  179.   delay(1000);
  180.   motor1.run(BACKWARD);    
  181.   motor2.run(BACKWARD);
  182.   motor3.run(BACKWARD);
  183.   motor4.run(BACKWARD);
  184. }  
  185.  
Tags: Robot Avoidance Robot
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