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CODE robot detect obstacle

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Youssef Oubelaid
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7 views

CODE robot detect obstacle

Uploaded by

Youssef Oubelaid
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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https://marobotic.

com/2023/11/12/obstacle-avoiding-robot-using-arduino-uno-and-l293d-with-hc-
sr04-sensor/

#include "AFMotor.h"
#include <Servo.h>

#define echopin A4 // echo pin


#define trigpin A5 // Trigger pin

Servo myservo;

const int MOTOR_1 = 1;


const int MOTOR_2 = 2;
const int MOTOR_3 = 3;
const int MOTOR_4 = 4;

AF_DCMotor motor1(MOTOR_1, MOTOR12_64KHZ); // create motor


object, 64KHz pwm
AF_DCMotor motor2(MOTOR_2, MOTOR12_64KHZ); // create motor
object, 64KHz pwm
AF_DCMotor motor3(MOTOR_3, MOTOR12_64KHZ); // create motor
object, 64KHz pwm
AF_DCMotor motor4(MOTOR_4, MOTOR12_64KHZ); // create motor
object, 64KHz pwm
//
=================================================================
==============
// Initialization
//
=================================================================
==============

int distance_L, distance_F, distance_R;


long distance;

int set = 20;

void setup() {
Serial.begin(9600); // Initialize serial port
Serial.println("Start");

myservo.attach(10);
myservo.write(90);

pinMode (trigpin, OUTPUT);


pinMode (echopin, INPUT );

motor1.setSpeed(180); // set the motor speed to 0-255


motor2.setSpeed(180);
motor3.setSpeed(180);
motor4.setSpeed(180);
}
//
=================================================================
==============
// Main
//
=================================================================
==============
void loop() {
distance_F = data();
Serial.print("S=");
Serial.println(distance_F);
if (distance_F > set){
Serial.println("Forward");
motor1.run(FORWARD); // turn it on going forward
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
else{hc_sr4();}
}

long data(){
digitalWrite(trigpin, LOW);
delayMicroseconds(2);
digitalWrite(trigpin, HIGH);
delayMicroseconds(10);
distance = pulseIn (echopin, HIGH);
return distance / 29 / 2;
}

void compareDistance(){
if (distance_L > distance_R){
motor1.run(BACKWARD); // turn it on going left
motor2.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
delay(350);
}
else if (distance_R > distance_L){
motor1.run(FORWARD); // the other right
motor2.run(FORWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
delay(350);
}
else{
motor1.run(BACKWARD); // the other way
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
delay(300);
motor1.run(BACKWARD); // turn it on going left
motor2.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
delay(500);
}
}

void hc_sr4(){
Serial.println("Stop");
motor1.run(RELEASE); // stopped
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);

myservo.write(0);
delay(300);
distance_R = data();
delay(100);
myservo.write(170);
delay(500);
distance_L = data();
delay(100);
myservo.write(90);
delay(300);
compareDistance();
}

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