KumarBalajiNagaraj/Ultrasonic_Robotic_Car

Ultrasonic_Robotic_Car

1. Introduction A self-controlled Robotic Car using Arduino. This robotic car uses Ultra Sonic Sensor to detect Obstacles which are in front of it, whenever it detects obstacles then its Ultra Sonic Sensor moves in both directions Right and Left to calculates the best possible distance to move freely. It's Ultra Sonic Sensor range is up to 150 cms.

2.Demonstration

https://www.youtube.com/embed/jITaMKjnBOM

//Codes for Self Controlled Robotic Car using Arduino
#include         // Include Servo Library
#include       // Include Newping Library

// L293d Control Pins
const int LeftMotorForward = 4;
const int LeftMotorBackward = 5;
const int RightMotorForward = 6;
const int RightMotorBackward = 7;
const int LEDext = 1;
const int Buzzer = 0;


#define TRIGGER_PIN  A1  // Arduino pin to trigger pin on the ultrasonic sensor.
#define ECHO_PIN     A2  // Arduino pin to echo pin on the ultrasonic sensor.
#define MAX_DISTANCE 250 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 250cm.

Servo servo_motor;  // Servo's name
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.

boolean goesForward = false;
int distance = 50;

void setup()
{
  // Set L293d Control Pins as Output
  pinMode(RightMotorForward, OUTPUT);
  pinMode(LeftMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
  pinMode(RightMotorBackward, OUTPUT);
  pinMode(LEDext, OUTPUT);
  pinMode(Buzzer, OUTPUT);
  
  servo_motor.attach(9);   // Attachs the servo on pin 9 to servo object.
  servo_motor.write(115);   // Set at 115 degrees. 
  delay(2000);              // Wait for 2s.
  distance = readPing();    // Get Ping Distance.
  delay(100);               // Wait for 100ms.
}

void loop() 
{  
  int distanceRight = 0;  //Initialize right side distance                                              
  int distanceLeft = 0;   //Initialize left side distance
  delay(50);

  if (distance <= 30)   //If distance of obstacle less than 30 cm from robot 
  {
    Stop();   //call stop function to stop the robot
    digitalWrite(LEDext, HIGH);   //Turn led ON
    digitalWrite(Buzzer, HIGH);   //Turn Buzzer ON
    delay(300);   //wait for 300ms
    moveBackward();   //call moveBackward function to move robot in backward direction
    
    delay(400);   //wait for 400ms
    Stop();   //call stop function to stop the robot
    
    delay(300);   //wait for 300ms
    distanceRight = lookRight();    //call lookRight function to save distance in distanceRight variable
    
    delay(300);   //wait for 300ms
    distanceLeft = lookLeft();    //call lookLeft function to save distance in distanceLeft variable
    
    delay(300);   //wait for 300ms

    if (distanceRight >= distanceLeft)    //If distance of right greater or equall to distance of left
    {
      turnRight();    //call function to turn right robot
      delay(300);   //wait for 300ms
      Stop();   //call stop function to stop robot
    }
    else //else
    {
      turnLeft();   //call function to turn left robot
      delay(300);   //wait for 300ms
      Stop();   //call stop function to stop robot
    }
  
  }
  else    //else
  {
    moveForward();    //call moveForward function to move robot in forward direction 
  }

    distance = readPing();    //call readPing function to calculate Distance
}

int lookRight()     // lookRight Function for Servo Motor
{  
  servo_motor.write(0);   //make servo position at 0 degree
  delay(500);   //wait for 500ms
  int distance = readPing();    //read distance
  delay(100);   //wait for 100ms
  servo_motor.write(90);    //make servo position 90 degree
  return distance;    //return distance whenever lookRight function is called
}

int lookLeft()      // lookLeft Function for Servo Motor 
{
  servo_motor.write(180);   //make servo position at 0 degree
  delay(500);   //wait for 500ms
  int distance = readPing();    //read distance
  delay(100);   //wait for 100ms
  servo_motor.write(90);    //make servo position 90 degree
  return distance;    //return distance whenever lookLeft function is called
}

int readPing()      // readPing Function for Ultrasonic Sensor.
{
  delay(100);                 // Wait 100ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
  int cm = sonar.ping_cm();   //Send ping, get ping distance in centimeters (cm).
  if (cm==0)
  {
    cm=250;
  }
  return cm;    //return distance whenever readPing function is called
}

void Stop()       // Stop Function for Motor Driver.
{
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(RightMotorBackward, LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(LeftMotorBackward, LOW);
}

void moveForward()    // Move Forward Function for Motor Driver.
{
    digitalWrite(RightMotorForward, HIGH);
    digitalWrite(RightMotorBackward, LOW);
    digitalWrite(LeftMotorForward, HIGH);
    digitalWrite(LeftMotorBackward, LOW);
    digitalWrite(LEDext, LOW);
    digitalWrite(Buzzer, LOW);
}

void moveBackward()   // Move Backward Function for Motor Driver.
{
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(RightMotorBackward, HIGH);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(LeftMotorBackward, HIGH);
}

void turnRight()      // Turn Right Function for Motor Driver.
{
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(RightMotorBackward, HIGH);
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(LeftMotorBackward, LOW);
}

void turnLeft()       // Turn Left Function for Motor Driver.
{
  digitalWrite(RightMotorForward, HIGH);
  digitalWrite(RightMotorBackward, LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(LeftMotorBackward, HIGH);
}

**Schematic**