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How to make an obstacle avoiding robot

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How to make an obstacle avoiding robot

In this article we will learn how to make an obstacle avoiding Robot ourself,I have listed some steps in making it below.



Materials
1.arduino Uno
2.motor driver
3.switch
4.servo motor
5.battery connector
6.wheel
7.ultrasonic sensor
8.four DC motors.

Now the steps: 

Step 1: making the chasiss
The chassis is the frame work of any robot i made mine from plywood so if you can't get that you can use a thick cardboard or cartoon.

Step 2 : connections
(a)Gum the Arduino uno to the chasiss with either a gum or a double sided sticker
(b) connect by plugging the motor driver to the Arduino.
(c) also gum the motors to the chassis.


(d) connect the motors ,servos,sensor and the driver to the Arduino by following the circuit diagram below
B




You can upload the code below to the Arduino Uno board.
#include <AFMotor.h>
#include <NewPing.h>
#include <Servo.h>

#define TRIG_PIN A4 
#define ECHO_PIN A5 
#define MAX_DISTANCE 100
#define MAX_SPEED 80 // sets speed of DC motors
#define MAX_SPEED_OFFSET 20

NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);

AF_DCMotor motor1(1, MOTOR12_1KHZ); 
AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor3(3, MOTOR12_1KHZ); 
AF_DCMotor motor4(4, MOTOR12_1KHZ);

Servo myservo;

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

void setup() {

myservo.attach(9); 
 myservo.write(115); 
 delay(2000);
 distance = readPing();
 delay(100);
 distance = readPing();
 delay(100);
 distance = readPing();
 delay(100);
 distance = readPing();
 delay(100);
}

void loop() {
 int distanceR = 0;
 int distanceL = 0;
 delay(40);
 
 if(distance<=30)
 {
 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);
 motor3.run(RELEASE); 
 motor4.run(RELEASE);
 } 
 
void moveForward() {

if(!goesForward)
 {
 goesForward=true;
 motor1.run(FORWARD); 
 motor2.run(FORWARD); 
 motor3.run(FORWARD); 
 motor4.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);
 motor3.setSpeed(speedSet);
 motor4.setSpeed(speedSet+MAX_SPEED_OFFSET);
 delay(5);
 }
 }
}

void moveBackward() {
 goesForward=false;
 motor1.run(BACKWARD); 
 motor2.run(BACKWARD); 
 motor3.run(BACKWARD); 
 motor4.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);
 motor3.setSpeed(speedSet);
 motor4.setSpeed(speedSet+MAX_SPEED_OFFSET);
 delay(5);
 }
}

void turnRight() {
 motor1.run(BACKWARD);
 motor2.run(BACKWARD); 
 motor3.run(FORWARD);
 motor4.run(FORWARD); 
 delay(300);
 motor1.run(BACKWARD);
 motor2.run(BACKWARD); 
 motor3.run(FORWARD);
 motor4.run(FORWARD); 
 delay(300);
 motor1.run(BACKWARD);
 motor2.run(BACKWARD); 
 motor3.run(FORWARD);
 motor4.run(FORWARD); 
 delay(300);
 motor1.run(FORWARD); 
 motor2.run(FORWARD); 
 motor3.run(FORWARD); 
 motor4.run(FORWARD); 
} 
 
void turnLeft() {
 motor1.run(FORWARD); 
 motor2.run(FORWARD); 
 motor3.run(BACKWARD);
 motor4.run(BACKWARD); 
 delay(300);
 motor1.run(FORWARD); 
 motor2.run(FORWARD); 
 motor3.run(BACKWARD);
 motor4.run(BACKWARD); 
 delay(300);
 motor1.run(FORWARD); 
 motor2.run(FORWARD); 
 motor3.run(BACKWARD);
 motor4.run(BACKWARD); 
 delay(300);
 motor1.run(FORWARD); 
 motor2.run(FORWARD);
 motor3.run(FORWARD); 
 motor4.run(FORWARD);
}

 

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