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37 views3 pages

New Microsoft Word Document

Uploaded by

rewaa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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LAST CODE

#define enA 10//Enable1 L298 Pin enA


#define in1 9 //Motor1 L298 Pin in1
#define in2 8 //Motor1 L298 Pin in1
#define in3 7 //Motor2 L298 Pin in1
#define in4 6 //Motor2 L298 Pin in1
#define enB 5 //Enable2 L298 Pin enB
#define L_S A0 //ir sensor Left
#define R_S A1 //ir sensor Right
#define echo A2 //Echo pin
#define trigger A3 //Trigger pin
#define servo A5
int Set=15;
int distance_L, distance_F, distance_R;
void setup(){ // put your setup code here, to run once
Serial.begin(9600); // start serial communication at 9600bps
pinMode(R_S, INPUT); // declare if sensor as input
pinMode(L_S, INPUT); // declare ir sensor as input
pinMode(echo, INPUT );// declare ultrasonic sensor Echo pin as
input
pinMode(trigger, OUTPUT); // declare ultrasonic sensor Trigger pin
as Output
pinMode(enA, OUTPUT); // declare as output for L298 Pin enA
pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB
analogWrite(enA, 200); // Write The Duty Cycle 0 to 255 Enable Pin
A for Motor1 Speed
analogWrite(enB, 200); // Write The Duty Cycle 0 to 255 Enable Pin
B for Motor2 Speed
pinMode(servo, OUTPUT);
for (int angle = 70; angle <= 140; angle += 5) {
servoPulse(servo, angle); }
for (int angle = 140; angle >= 0; angle -= 5) {
servoPulse(servo, angle); }
for (int angle = 0; angle <= 70; angle += 5) {
servoPulse(servo, angle); }
distance_F = Ultrasonic_read();
delay(500);
}
void loop(){
//==============================================
// Line Follower and Obstacle Avoiding
//==============================================
distance_F = Ultrasonic_read();
Serial.print("D F=");Serial.println(distance_F);
//if Right Sensor and Left Sensor are at White color then it will
call forword function
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){
if(distance_F > Set){forword();}
else{Check_side();}
}
//if Right Sensor is Black and Left Sensor is White then it will
call turn Right function
else if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0))
{turnRight();}
//if Right Sensor is White and Left Sensor is Black then it will
call turn Left function
else if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1))
{turnLeft();}

delay(10);
}
void servoPulse (int pin, int angle){
int pwm = (angle*11) + 500; // Convert angle to microseconds
digitalWrite(pin, HIGH);
delayMicroseconds(pwm);
digitalWrite(pin, LOW);
delay(50); // Refresh cycle of servo
}
//
**********************Ultrasonic_read****************************
long Ultrasonic_read(){
digitalWrite(trigger, LOW);
delayMicroseconds(2);
digitalWrite(trigger, HIGH);
delayMicroseconds(10);
long time = pulseIn (echo, HIGH);
return time / 29 / 2;
}
void compareDistance(){
if(distance_L > distance_R){
turnLeft();
delay(500);
forword();
delay(600);
turnRight();
delay(500);
forword();
delay(600);
turnRight();
delay(400);
}
else{
turnRight();
delay(500);
forword();
delay(600);
turnLeft();
delay(500);
forword();
delay(600);
turnLeft();
delay(400);
}
}
void Check_side(){
Stop();
delay(100);
for (int angle = 70; angle <= 140; angle += 5) {
servoPulse(servo, angle); }
delay(300);
distance_R = Ultrasonic_read();
Serial.print("D R=");Serial.println(distance_R);
delay(100);
for (int angle = 140; angle >= 0; angle -= 5) {
servoPulse(servo, angle); }
delay(500);
distance_L = Ultrasonic_read();
Serial.print("D L=");Serial.println(distance_L);
delay(100);
for (int angle = 0; angle <= 70; angle += 5) {
servoPulse(servo, angle); }
delay(300);
compareDistance();
}
void forword(){ //forword
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, HIGH); //Left Motor forword Pin
digitalWrite(in3, HIGH); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}
void backword(){ //backword
digitalWrite(in1, HIGH); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, HIGH); //Right Motor backword Pin
}
void turnRight(){ //turnRight
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, HIGH); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, HIGH); //Right Motor backword Pin
}
void turnLeft(){ //turnLeft
digitalWrite(in1, HIGH); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, HIGH); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}
void Stop(){ //stop
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}

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