Cole Purtzer
Published © GPL3+

Probability | Autonomous Rover

Meet the little black rover that can do many things in your house without bumping into a single thing!

IntermediateWork in progress47,409
Probability | Autonomous Rover

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×1
Breadboard (generic)
Breadboard (generic)
×2
Jumper wires (generic)
Jumper wires (generic)
×1
DC motor (generic)
×6
Dual H-Bridge motor drivers L298
SparkFun Dual H-Bridge motor drivers L298
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
Arduino Nano R3
Arduino Nano R3
×1
LED (generic)
LED (generic)
×1
Buzzer
Buzzer
×1
TTP223B Touch Sensor
×1

Software apps and online services

Arduino IDE
Arduino IDE

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Hot glue gun (generic)
Hot glue gun (generic)

Story

Read more

Schematics

Schematics for Probability

It didn't work with UNO but mine does

Code

ProbablitySoft.19.ino

C/C++
New code will be uploaded each week with bug fixes and new features
//RocketryUniverse 2018


// connect motor controller pins to Arduino digital pins
// motor one
int enA = 10;
int in1 = 9;
int in2 = 8;
// motor two
int enB = 5;
int in3 = 7;
int in4 = 6;

#include <Servo.h>

#define TRIG_PIN 13 
#define ECHO_PIN 12 
#define MAX_DISTANCE 200 
#define ctsPin 11 
Servo servo;


// defines pins numbers
const int trigPin = 13;
const int echoPin = 12;

// defines variables
long duration;
int distance;

void setup() {
  pinMode(2, OUTPUT);
analogWrite(enA, 90);
  analogWrite(enB, 90);
  // set all the motor control pins to outputs
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
Serial.begin(9600); // Starts the serial communication
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);  
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW); 
  delay(1200);
}


void loop() {
int ctsValue = digitalRead(ctsPin);

  if(ctsValue==HIGH) {
    digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);  
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  delay(800);
     //forward
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);  
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  delay(800);
  digitalWrite(in1, HIGH);//Turn Back 
  digitalWrite(in2, LOW);  
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH); 
  delay(800);
  digitalWrite(in1, LOW);//Turn Back 
  digitalWrite(in2, HIGH);  
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW); 
  delay(800);
  tone(2, 250); //A
  delay(15);
   tone(2, 280); //A
  delay(15);
   tone(2, 310); //A
  delay(15);
   tone(2, 340); //A
  delay(15);
  tone(2, 380); //A
  delay(15);
   tone(2, 420); //A
  delay(15);
   tone(2, 460); //A
  delay(15);
   tone(2, 500); //A
  delay(75);
  
  tone(2, 420); //A
  delay(100);
   tone(2, 380); //A
  delay(90);
   tone(2, 340); //A
  delay(80);
   tone(2, 300); //A
  delay(70);
 tone(2, 260); //A
  delay(60);
  
  tone(2, 240); //A
  delay(60);
  tone(2, 220); //A
  delay(60);
   
   tone(2, 180, 100); //A
  }
  while(ctsValue==LOW) {
  //forward
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);  
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  
   
  // Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(8);

// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);

digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);

// Calculating the distance
distance= duration*0.034/2;

// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);


  if (distance < 27.5){
    
  digitalWrite(in1, LOW);//Motor off for 2 sec
  digitalWrite(in2, LOW);  
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW); 
  delay(800);
  tone(2, 250); //A
  delay(15);
   tone(2, 280); //A
  delay(15);
   tone(2, 310); //A
  delay(15);
   tone(2, 340); //A
  delay(15);
  tone(2, 380); //A
  delay(15);
   tone(2, 420); //A
  delay(15);
   tone(2, 460); //A
  delay(15);
   tone(2, 500); //A
  delay(75);
  
  tone(2, 420); //A
  delay(100);
   tone(2, 380); //A
  delay(90);
   tone(2, 340); //A
  delay(80);
   tone(2, 300); //A
  delay(70);
 tone(2, 260); //A
  delay(60);
  
  tone(2, 240); //A
  delay(60);
  tone(2, 220); //A
  delay(60);
   
   tone(2, 180, 100); //A
   digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);  
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW); 
  delay(400);
  digitalWrite(in1, HIGH);//Turn Back 
  digitalWrite(in2, LOW);  
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH); 
  delay(800);
  
  digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);

  while(distance < 60){
    digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);
  }
if(ctsValue==HIGH) {
     //forward
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);  
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  }
    
  
    }
 
  }
}
  
  
 

  

Credits

Cole Purtzer

Cole Purtzer

16 projects • 210 followers
Hey I am Cole, the lead engineer at Delta Space Systems! Youtube Channel: https://www.youtube.com/channel/UC7Nhgj_PVCtroPXHMhdku-g

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