In this article, we going to explain how to make an obstacle-avoiding robot car. you can make this using the Arduino Uno board so easily. Let's get started. If you interested in Arduino Uno projects, refer to my previous articles.
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| Arduino Uno Obstacle Avoiding Robot Car |
- In this robot car, the ultrasonic sensor acts as an obstacle detector so that the robot car change the traveling path automatically.
- First, you need these components to build this robot car.
Apparatus
1.Arduino Uno board
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| Arduino Uno board |
2.Ultrasonic sensor (hc-sr04)
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| Ultrasonic sensor (hc-sr04) |
3. Motor driver (L298N)
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| Motor driver (L298N) |
4.Servo motor (Gear SG90 9g)
5.Jumper cables
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| Jumper cables |
6.Dot board
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| Dot board |
7.four phone battery
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| phone battery |
8.Toy car wheel with gear
CONNECTION DIAGRAM
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| connection diagram |
Arduino code
#include<Servo.h>
Servo name;
//m1
int enA = 10;
int in1 = 12;
int in2 = 8;
//m2
int enB = 5;
int in3 = 7;
int in4 = 6;
char val;
#define t 11 //trig-white
#define e 13 //echo-black
long duration, cm ;
void setup() {
Serial.begin(9600);
name.attach(9);
name.write(90);
delay(300);
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(t, OUTPUT );
pinMode(e, INPUT );
digitalWrite(t, LOW);
delayMicroseconds(5);
pinMode(2, INPUT);
pinMode(3, INPUT);
pinMode(4, INPUT);
}
void mpower(int motor, int rotation, int spd) {
int pwm;
int pA;
int pB;
if (motor == 1) {
pwm = enA;
pA = in1;
pB = in2;
}
else if (motor == 2) {
pwm = enB;
pA = in3;
pB = in4;
}
else {
return;
}
if (rotation == 0) {
digitalWrite(pA, LOW);
digitalWrite(pB, LOW);
}
else if (rotation == 1) {
digitalWrite(pA, HIGH);
digitalWrite(pB, LOW);
}
else if (rotation == -1) {
digitalWrite(pA, LOW);
digitalWrite(pB, HIGH);
}
analogWrite(pwm, spd);
}
int speedval = 0; //speed of car(max 40)
int maxspeed = 40;
int normalspeed = 127;//less than 125(255/2)
int min_dis = 15;
int mode = 0;
//0-run
//1-scan
//2-rotate
int f_max = 0;
int f_max_ang = 0;
void loop() {
cm = getDistance();
if (mode == 0) {
if (cm > min_dis || cm == 0 ) {
speedval++;
if (speedval > maxspeed) {
speedval = maxspeed;
}
mpower(2, -1, 255);
mpower(1, 1, 255);
delay(100);
}
else {
mpower(1, -1, 255);
mpower(2, 1, 255);
delay(speedval * 6);
speedval = 0;
if (cm > 1 || speedval == 5) {
mode = 1;
}
}
Serial.print("CM");
Serial.print(cm);
Serial.print(",Speed-");
Serial.print(speedval);
Serial.print(",Mode-");
Serial.print(mode);
Serial.println();
}
else if (mode == 1) {
f_max = 0;
name.write(0);
delay(200);
for (int a = 0; a <= 180; a += 10) {
name.write(a);
delay(20);
cm = getDistance();
if (cm > f_max) {
f_max = cm;
f_max_ang = a;
}
Serial.print(",D=");
Serial.print(cm);
}
Serial.print("f_max_ang=");
Serial.print(f_max_ang);
Serial.print("MAX:");
Serial.println(f_max);
name.write(90);
delay(200);
mode = 2;
}
else if (mode == 2) {
if (f_max_ang < 90) {
Serial.println("Rotatiog LEFT");
mpower(1, -1, 255);
mpower(2, -1, 255);
delay(f_max_ang * 10);
}
else {
Serial.println("Rotatiog RIGH");
mpower(1, 1, 255);
mpower(2, 1, 255);
delay((f_max_ang-90) * 10);
}
mpower(1, 0, 0);
mpower(2, 0, 0);
mode = 0;
}
mpower(1, 0, 0);
mpower(2, 0, 0);
//mpower(1, 1, 50);
//mpower(2, -1, 100);
}
long getDistance() {
digitalWrite(t, HIGH);
delayMicroseconds(10);
digitalWrite(t, LOW);
duration = pulseIn(e, HIGH, 100000);
return (duration / 2) / 29.1;
}
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