mrdeveloper9457
Published © Apache-2.0

Auto Obstacle Avoidance & Table Edge Detection Robot

A multi functional Arduino UNO based obstacle avoidance with Ultrasonic sensor and table edge detection using IR sensors.

IntermediateFull instructions provided4,941
Auto Obstacle Avoidance & Table Edge Detection Robot

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
SG90 Micro-servo motor
SG90 Micro-servo motor
×1
IR Sensor Module
×2
L293D Module
×1
Jumper wires (generic)
Jumper wires (generic)
×10
DC Motor, 12 V
DC Motor, 12 V
×2
Battery, 3.7 V
Battery, 3.7 V
×2

Software apps and online services

Arduino IDE
Arduino IDE
RobotoApp

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Solder Wire, Lead Free
Solder Wire, Lead Free
Mastech MS8217 Autorange Digital Multimeter
Digilent Mastech MS8217 Autorange Digital Multimeter
Hot glue gun (generic)
Hot glue gun (generic)
Tape, Double Sided
Tape, Double Sided

Story

Read more

Schematics

Schematic Diagram

Code

code

C/C++
#include <Servo.h>
#define BS 12      // back sensor 
#define FS 13      // front sensor 
#define L1 10       // left motor 
#define L2 11       // left motor 
#define R1 8       // right motor 
#define R2 9       // right motor 
#define E 2 // attach pin D2 Arduino to pin Echo of HC-SR04
#define T 3 //attach pin D3 Arduino to pin Trig of HC-SR04
#define S 5 // for speed of pin 5
#define SR 4// Servo
#define VIN A0
Servo srv;  // create servo object to control a servo
boolean isAuto = false;// Manual Default


void setup ()
{
  Serial.begin(9600);
  pinMode(FS, INPUT);
  pinMode(BS, INPUT);
  pinMode(L1, OUTPUT);
  pinMode(L2, OUTPUT);
  pinMode(R1, OUTPUT);
  pinMode(R2, OUTPUT);
  pinMode(S, OUTPUT);
  pinMode(T, OUTPUT);
  pinMode(E, INPUT);
  pinMode(VIN, INPUT);

  srv.attach(SR);
  melody();

}
const unsigned short melodyArr[] = {
  262, 196, 196, 220, 196, 0, 247, 262
};
const byte noteDurations[] = {
  250, 125, 125, 250, 250, 250, 250, 250
};
void melody() {
  for (int i = 0; i < 8; i++) {
    int noteDuration =  noteDurations[i];
    tone(6, melodyArr[i], noteDuration);
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    noTone(6);
  }
}
unsigned int s = 255;
void loop()
{
  String str = "";
  char c;
  int di = ping();


  if (Serial.available()) {
    while (Serial.available()) {

      str = str + (char)Serial.read();

    }
    if (str.length() > 0) {
      c = str[0];
    }

    if (c == '1' && str.length() == 1) {
      move(true, false, true, false, s);
    } else if (c == '2' && str.length() == 1) {
      move(false, true, false, true, s);
    } else if (c == '3' && str.length() == 1) {
      move(true, false, false, true, s);// Left
    } else if (c == '4' && str.length() == 1) {
      move(false, true, true, false, s); // Right
    } else if (c == '5' && str.length() == 1) {
      move(false, false, false, false, s);
    } else if (str.startsWith("sp:")) {
      s = str.substring(3).toInt();
    } else if (str.startsWith("sr:")) {
      srv.write(str.substring(3).toInt());
    } else if (str.startsWith("tn:")) {
      tone(6, 480, str.substring(3).toInt());
    } else if (str.startsWith("mo:")) {
      isAuto = str.substring(3).toInt() == 0 ? false : true;
    } else if (str == "ml") {
      melody();
    } else if (str == "di") {
      Serial.println("di:" + String(di));
    } else if (str == "vin") {
      float vin = (analogRead(VIN) * 5.0) / 1023;
      Serial.println("vin:" + String(vin));
    }

  }
  char x = digitalRead(FS) ? '2' : '1';
  if ((di <= 20 || digitalRead(BS) || digitalRead(FS)) && c != x && !isAuto) {
    move(false, false, false, false, s);
  } else if (isAuto && (di <= 20 || digitalRead(FS))) {
    move(false, false, false, false, s);//Stop
    tone(6, 480, 1000);
    delay(1000);
    tone(6, 480, 1000);
    noTone(6);
    if ( ping() > 20 && !digitalRead(FS)) {
      delay(100);
      move(true, false, true, false, s);
    } else {
      delay(100);
      move(false, true, false, true, s);//Back
      delay(400);
      move(false, false, false, false, s);//Stop
      delay(300);
      int dRight = lookRight();
      delay(300);
      int dLeft = lookLeft();
      delay(300);
      if (dRight >= 20) {
        move(false, true, true, false, s); // Right
        delay(600);
        move(false, false, false, false, s);
      } else if (dLeft >= 20) {
        move(true, false, false, true, s);// Left
        delay(600);
        move(false, false, false, false, s);
      } else {
        move(false, false, false, false, s);//Stop
        melody();
      }

    }

  } else if (isAuto) {
    move(true, false, true, false, s);
  }
}
int lookRight() {
  srv.write(0);
  delay(300);
  int d = ping();
  srv.write(90);
  return d;
}
int lookLeft() {
  srv.write(180);
  delay(300);
  int d = ping();
  srv.write(90);
  return d;
}
int ping() {
  delay(100);

  // Clears the trigPin condition
  digitalWrite(T, LOW);
  delayMicroseconds(2);
  // Sets the trigPin HIGH (ACTIVE) for 10 microseconds
  digitalWrite(T, HIGH);
  delayMicroseconds(10);
  digitalWrite(T, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  int du = pulseIn(E, HIGH);
  // Calculating the distance
  return du * 0.034 / 2; // Speed of sound wave divided by 2 (go and back)
}
void move(bool l1, bool l2, bool r1, bool r2, int s) {

  analogWrite(S, s);
  digitalWrite(L1, l1);
  digitalWrite(L2, l2);
  digitalWrite(R1, r1);
  digitalWrite(R2, r2);


}

Credits

mrdeveloper9457

mrdeveloper9457

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