obstacle avoiding robot using hcsr-04







MATERIALS REQUIRED
1.ARDUINO UNO
2.ROBOT CHASIS
3.HCSR-04 ULTRASONIC SENSOR
4.180 DEG SERVO
5.ARDUINO DC POWER SUPPLY
6.ADAFRUIT MOTOR SHIELD 
7.300 RPM DC MOTOR-2
8.CASTOR WHEEL
9.WHEELS FOR DC MOTOR-2
10.DOUBLE SIDE TAPE


CIRCUIT
MOTOR 1- ADAFRUIT MOTOR SHIELD M3
MOTOR 2- ADAFRUIT MOTOR SHIELD M4
HCSR-04 GND-ARDUINO GND
HCSR-04 ECHO- ARDUINO A5
HCSR-04 TRIG-ARDUINO A4
HCSR-04 VCC-ARDUINO +5V
SERVO-ADAFRUIT MOTOR SHIELD SERVO_2


CODE
FIRST INSTALL THESE LIBRARY



#include <AFMotor.h>//library of motor shield
#include <NewPing.h>//the library of ultrasonic sensor
#include <Servo.h>//library of servo

#define TRIG_PIN A4 //defining the trig pin which is connected to analog input4
#define ECHO_PIN A5 //defining the eco pin which is connected to analog input5
#define MAX_DISTANCE 200 //sets the maximum distance that is to be sensed
#define MAX_SPEED 190 // sets speed of DC  motors
#define MAX_SPEED_OFFSET 20

NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); //initiates the ultronic sensor pins

AF_DCMotor motor1(3);
AF_DCMotor motor2(4);

Servo myservo;   //name of servo

boolean goesForward=false;
int distance = 100;
int speedSet = 0;

void setup() {

  myservo.attach(9); //pin that are servo is connected 
  myservo.write(115); //servo position
  delay(2000);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
}

void loop() {
 int distanceR = 0;//right distance
 int distanceL =  0;//left distance
 delay(40);
 
 if(distance<=15)
 {
  moveStop();
  delay(100);
  moveBackward();
  delay(300);
  moveStop();
  delay(200);
  distanceR = lookRight();
  delay(200);
  distanceL = lookLeft();
  delay(200);

  if(distanceR>=distanceL)
  {
    turnRight();
    moveStop();
  }else
  {
    turnLeft();
    moveStop();
  }
 }else
 {
  moveForward();
 }
 distance = readPing();
}

int lookRight()
{
    myservo.write(50); 
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(115); 
    return distance;
}

int lookLeft()
{
    myservo.write(170); 
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(115); 
    return distance;
    delay(100);
}

int readPing() { 
  delay(70);
  int cm = sonar.ping_cm();
  if(cm==0)
  {
    cm = 250;
  }
  return cm;
}

void moveStop() {
  motor1.run(RELEASE); 
  motor2.run(RELEASE);
  } 
  
void moveForward() {

 if(!goesForward)
  {
    goesForward=true;
    motor1.run(FORWARD);      
    motor2.run(FORWARD);      
   for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
   {
    motor1.setSpeed(speedSet);
    motor2.setSpeed(speedSet+MAX_SPEED_OFFSET);
    delay(5);
   }
  }
}

void moveBackward() {
    goesForward=false;
    motor1.run(BACKWARD);      
    motor2.run(BACKWARD);  
  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
  {
    motor1.setSpeed(speedSet);
    motor2.setSpeed(speedSet+MAX_SPEED_OFFSET);
    delay(5);
  }
}  

void turnRight() {
  motor1.run(FORWARD);
  motor2.run(BACKWARD);     
  delay(1000);
  motor1.run(FORWARD);      
  motor2.run(FORWARD);      
} 
 
void turnLeft() {
  motor1.run(BACKWARD);     
  motor2.run(FORWARD);     
  delay(1000);
  motor1.run(FORWARD);     
  motor2.run(FORWARD);
}  

 


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