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obstacle-avoiding-robot.ino
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obstacle-avoiding-robot.ino
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#include <Servo.h>
#define ENA 10
#define ENB 9
#define IN1 2
#define IN2 3
#define IN3 5
#define IN4 6
#define trigPin 12
#define echoPin 11
void setup() {
Serial.begin(9600);
Serial.println("Motor test!");
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
}
void loop() {
long duration, distance;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration / 2) / 29.1;
if (distance < 25) {
Serial.println ("Close Obstacle detected!" );
Serial.println ("Obstacle Details:");
Serial.print ("Distance From Robot is " );
Serial.print (distance);
Serial.print ( " CM!");
Serial.println (" The obstacle is declared.");
Serial.println (" Turning !");
motorA(2,20);
motorB(2,20);
delay (250);
motorA(1,20);
motorB(2,50);
}
else {
Serial.println ("No obstacle detected. going forward");
delay (15);
motorA(1,35);
motorB(1,35);
}
}
void motorA(int mode, int percent){
int duty = map(percent, 0, 100, 0, 255);
switch(mode){
case 0: digitalWrite(ENA, LOW);
break;
case 1: digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, duty);
break;
case 2: digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, duty);
break;
case 3: digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
analogWrite(ENA, duty);
break;
}
}
void motorB(int mode, int percent){
int duty = map(percent, 0, 100, 0, 255);
switch(mode){
case 0: digitalWrite(ENB, LOW);
break;
case 1: digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, duty);
break;
case 2: digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(ENB, duty);
break;
case 3: digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
analogWrite(ENB, duty);
break;
}
}