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Obstacle Avoiding Robot- Arduino code
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//Obstacle Avoiding robot | |
//Praveen Sridhar | |
//psbots.blogspot.com | |
const int left=1,mid=2,right=3; | |
const int i1=8,i2=10,ea=9,i3=5,i4=7,eb=6; | |
const int cthres=600,rthres=600,lthres=600; | |
int s1=0; | |
int s2=0; | |
int s3=0; | |
int r; | |
void setup() | |
{ | |
Serial.begin(9600); | |
pinMode(i1,OUTPUT); | |
pinMode(i2,OUTPUT); | |
pinMode(ea,OUTPUT); | |
pinMode(13,OUTPUT); | |
pinMode(i4,OUTPUT); | |
pinMode(eb,OUTPUT); | |
} | |
void updateS() | |
{ | |
s1=analogRead(left); | |
s2=analogRead(mid); | |
s3=analogRead(right); | |
} | |
void moveforward() | |
{ | |
analogWrite(ea,200); | |
analogWrite(eb,200); | |
digitalWrite(i2,LOW); | |
digitalWrite(i1,HIGH); | |
digitalWrite(i4,LOW); | |
digitalWrite(i3,HIGH); | |
} | |
void turnleft() | |
{ | |
analogWrite(ea,150); | |
analogWrite(eb,150); | |
digitalWrite(i1,LOW); | |
digitalWrite(i2,HIGH); | |
digitalWrite(i4,LOW); | |
digitalWrite(i3,HIGH); | |
} | |
void turnright() | |
{ | |
analogWrite(eb,150); | |
analogWrite(ea,150); | |
digitalWrite(i2,LOW); | |
digitalWrite(i1,HIGH); | |
digitalWrite(i3,LOW); | |
digitalWrite(i4,HIGH); | |
} | |
void loop() | |
{ | |
moveforward(); | |
updateS(); | |
if(s2>cthres) | |
{ | |
randomSeed(analogRead(0)); | |
r=random(3000); | |
if(r%2==0) | |
turnright(); | |
else | |
turnleft(); | |
while((s3>rthres-10||s2>cthres-10)) | |
{ | |
updateS(); | |
delay(10); | |
} | |
moveforward(); | |
} | |
if((s3>rthres)||((s3>rthres)&&(s2>cthres))) | |
{ | |
turnleft(); | |
while(s3>rthres-10) | |
{ | |
updateS(); | |
delay(10); | |
} | |
moveforward(); | |
} | |
if((s1>lthres)||((s1>lthres)&&(s2>cthres))) | |
{ | |
turnright(); | |
while(s1>lthres-10) | |
{ | |
updateS(); | |
delay(10); | |
} | |
moveforward(); | |
} | |
} |
Thanks a lot
Give circuit diagram
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