Sam
Published © GPL3+

Big Track Rover "ENHANCED EDITION" Obstacle Avoidance Bot

No longer fun for the kids, sat at the back of the toy bin, hopelessly dreaming of seeing the sunlight yet once more, the ROVER emerges...

IntermediateShowcase (no instructions)2.5 hours1,017
Big Track Rover "ENHANCED EDITION" Obstacle Avoidance Bot

Things used in this project

Hardware components

Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
Arduino Nano R3
Arduino Nano R3
×1
Jumper wires (generic)
Jumper wires (generic)
×1
SG90 Micro-servo motor
SG90 Micro-servo motor
×1
Standoff, Brass
Standoff, Brass
×1
AA Batteries
AA Batteries
×1
MX1616 Dual Motor Driver Board
×1
Rocker Switch, DPDT
Rocker Switch, DPDT
×1
Accessory, Screw
Accessory, Screw
×1
Bigtrak Rover Toy
×1
Ultrasonic Sensor Mounting Bracket for HC-SR04
×1

Software apps and online services

Arduino IDE
Arduino IDE

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Solder Wire, Lead Free
Solder Wire, Lead Free
Solder Flux, Soldering
Solder Flux, Soldering
Multitool, Screwdriver
Multitool, Screwdriver
Drill / Driver, Cordless
Drill / Driver, Cordless

Story

Read more

Code

Arduino Obstacle Avoidance Code

Arduino
Download to the Arduino board to get started.
//Obstacle Avoidance Robot using an MX1616 motor driver and Arduino NANO
//September 2019
//Please Note Pin configuration and adjust as you need!

#include <Servo.h>          //Servo motor library. This is standard library
#include <NewPing.h>        //Ultrasonic sensor function library. You must install this library

//Motor Driver control pins
const int LeftMotorForward = 7;
const int LeftMotorBackward = 6;
const int RightMotorForward = 4;
const int RightMotorBackward = 5;

//HC-04 sensor pins
#define trig_pin A1 //analog input 1
#define echo_pin A2 //analog input 2

#define maximum_distance 200
boolean goesForward = false;
int distance = 100;

NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
Servo servo_motor; //Used to ''sweep'' the HC-04


void setup(){

  pinMode(RightMotorForward, OUTPUT);
  pinMode(LeftMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
  pinMode(RightMotorBackward, OUTPUT);
  
  servo_motor.attach(2); //Attached on D2

  servo_motor.write(115);
  delay(2000);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
}

void loop(){

  int distanceRight = 0;
  int distanceLeft = 0;
  delay(50);

  if (distance <= 30){
    moveStop();
    delay(300);
    moveBackward();
    delay(400);
    moveStop();
    delay(300);
    distanceRight = lookRight();
    delay(300);
    distanceLeft = lookLeft();
    delay(300);

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

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

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

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

void moveStop(){
  
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorBackward, LOW);
  digitalWrite(LeftMotorBackward, LOW);
}

void moveForward(){

  if(!goesForward){

    goesForward=true;
    
    digitalWrite(LeftMotorForward, HIGH);
    digitalWrite(RightMotorForward, HIGH);
  
    digitalWrite(LeftMotorBackward, LOW);
    digitalWrite(RightMotorBackward, LOW); 
  }
}

void moveBackward(){

  goesForward=false;

  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);
  
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorForward, LOW);
  
}

void turnRight(){

  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);
  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorForward, LOW);
  
  delay(500);
  
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward, LOW);
 
  
  
}

void turnLeft(){

  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorBackward, LOW);

  delay(500);
  
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward, LOW);
}

 

Credits

Sam

Sam

2 projects • 0 followers
A lover of all things technology. Interested in disassembling electronic devices for fun, hacking, and learning.

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