Project Description

This project implements a finite state machine (FSM) controlling a DC motor with an Adafruit Motor Shield, using an HC-SR04 ultrasonic sensor to detect obstacles and toggle the motor’s rotation direction, and sending state updates via an HC-05 Bluetooth module. After 5 direction changes or 30 seconds of operation, the motor stops and only restarts upon system reboot.

Branches

• feature-fsm: FSM logic
• feature-motor-control: Motor control code
• feature-sensor: Sensor reading code
• feature-bluetooth: Bluetooth communication code

Each feature branch must be peer-reviewed via Pull Requests (PR) before merging into main.

Required Hardware

• Arduino (e.g. Arduino Uno)
• Adafruit Motor Shield (V2) for motor control
• HC-SR04 Ultrasonic Sensor for distance measurement
• HC-05 Bluetooth module for wireless communication
• DC Motor (connected to the Motor Shield)

Wiring (Example)

• HC-SR04: Trig → Pin 2, Echo → Pin 3
• HC-05: RX → Pin 10, TX → Pin 11
• Motor connected to Motor Shield output M1 (for example)

Libraries to Install

1. Adafruit Motor Shield V2 Library
2. SoftwareSerial

Setup

• Connect all hardware as described above.
• Install the required library (Adafruit Motor Shield V2).
• Select the correct Board and Port in the Arduino IDE.
• Verify and Upload the code.

Usage

After merging all branches and uploading to Arduino, the system:

• Starts idle (motor off).
• On first object detection (e.g. a hand in front of the HC-SR04), the motor runs clockwise (CW).
• On the next detection, it toggles to counter-clockwise (CCW), then again CW, and so forth.
• After 5 toggles or 30 seconds, the motor stops and can only restart by rebooting the Arduino.
• Each detection sends a Bluetooth message (CW, CCW, etc.) readable on a connected smartphone app or terminal connected to the HC-05 module.

Notes

• You can adjust the motor speed or direction in motor_control.cpp.
• You can tweak the debounce time or distance threshold for the HC-SR04 in sensor.cpp.
• For debugging, you can add Serial.println() statements in various files to trace behavior.

Workflow

• Develop feature branches independently.
• Submit PRs for code review before merging into main.
• Ensure code quality, FSM correctness, and adhere to the project’s coding guidelines.