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Obstacle Avoidance robot using 2 Gear Motors

Following is an attempt to create the Obstacle Avoiding robot using 2 gear motors. The front distance is being measured by the ultrasonic sensor.

Note: We aren't using a servo motor to measure the right and left distance here


Have Fun !

Components Required

  1. 4x Resistor 220Ω
  2. HCSR04 ultrasonic sensor
  3. 2x gear motors
  4. 1x L293D motor driver for controlling the gear motors
  5. Jumper Wires
  6. Arduino UNO


Some key points to look out for

  • The circuit comprises of 4 different colour leds to let the user know what the robot is about to do be it move forward, backward, right or left
  • Here we haven't used a servo motor so the robot will be always measuring the distance to an obstacle in front of it.
  • The two gear motors are being controlled via the motor driver which is present since it can support max 2 motors.
  • If you wish to build a 4 gear motor robot then make sure to use another motor drive for the control of the 2 new gear motors.

Motor Driver Configuration

8pins above and 8 pins down

Power 1 Input 4 Output 4 GND GND Output 3 Input 3 Enable 3&4
Enable 1&2 Input 1 Output 1 GND GND Output 2 Input 1 Power 2

CODE

Important part of the code. Make sure to refer the .ino file provided !

  //-------Configuration of Ultrasonic Sensor---------
  long duration;
  float Front_dist;
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(20);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  Front_dist = (duration * 0.03444)/2;
  //inch = (Front_dist/2.54);
 //---------------------------------------------------
  analogWrite(enable_right, 255);
  analogWrite(enable_left, 255);
  
  if(Front_dist<50){
    digitalWrite(forward_led,HIGH);
    digitalWrite(backward_led,HIGH);	//red led
    stop();
    delay(100);
    digitalWrite(forward_led,LOW);
    backward();
    delay(100);
    digitalWrite(right_led,HIGH);		//blue led
    right();
    delay(100);
    digitalWrite(right_led,LOW);
    digitalWrite(left_led,HIGH);		//orange led
  }else{
    digitalWrite(forward_led,HIGH);		//green led
    digitalWrite(backward_led,LOW);
    digitalWrite(right_led,LOW);
    digitalWrite(left_led,LOW);
    forward();
  }