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Code U

This document contains code for controlling a robotic car using an Arduino. It defines pin connections for motors, ultrasonic sensor and servo motor. Functions are created to control motor directions and movement. The main car function moves the car forward while the distance to objects is over 15cm, scanning with the servo motor. If an object is detected within 15cm, it backs up and turns right to avoid the obstacle.

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kaloy33
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80 views4 pages

Code U

This document contains code for controlling a robotic car using an Arduino. It defines pin connections for motors, ultrasonic sensor and servo motor. Functions are created to control motor directions and movement. The main car function moves the car forward while the distance to objects is over 15cm, scanning with the servo motor. If an object is detected within 15cm, it backs up and turns right to avoid the obstacle.

Uploaded by

kaloy33
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
Download as docx, pdf, or txt
Download as docx, pdf, or txt
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// Setup the servo motor

#include <Servo.h>
Servo myservo;
int servposnum = 0;
int servpos = 0;
// Setup Motor A (front and rear) pins
int enableA = 1;
int pinA1 = 3;
int pinA2 = 2;
// Setup Motor B (front and rear) pins
int enableB = 6;
int pinB1 = 5;
int pinB2 = 4;
// Setup Ultrasonic Sensor pins
#define trigPin 8
#define echoPin 9
void setup() {
// The setup code goes here and runs once only
// Configure the pin modes for each drive motor
pinMode (enableA, OUTPUT);
pinMode (pinA1, OUTPUT);
pinMode (pinA2, OUTPUT);
pinMode (enableB, OUTPUT);
pinMode (pinB1, OUTPUT);
pinMode (pinB2, OUTPUT);
// Configure the pin modes for the Ultrasonic Sensor
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
// Turn pin into servo driver. Calls pinMode. Returns 0 on failure.
myservo.attach(7);
}
void loop() {
// Main code goes here and will run repeatedly:
car(); // function keeps moving car forward while distance > 15cm
avoid(); // function makes car go back, turn slightly right to move forward in new direction

}
// Create motor functions
void motorAforward() {
digitalWrite (pinA1, HIGH);
digitalWrite (pinA2, LOW);
}
void motorBforward() {
digitalWrite (pinB1, LOW);
digitalWrite (pinB2, HIGH);
}
void motorAbackward() {
digitalWrite (pinA1, LOW);
digitalWrite (pinA2, HIGH);
}
void motorBbackward() {
digitalWrite (pinB1, HIGH);
digitalWrite (pinB2, LOW);
}
void motorAstop() {
digitalWrite (pinA1, HIGH);
digitalWrite (pinA2, HIGH);
}
void motorBstop() {
digitalWrite (pinB1, HIGH);
digitalWrite (pinB2, HIGH);
}
void motorAcoast() {
digitalWrite (pinA1, LOW);
digitalWrite (pinA2, LOW);
}
void motorBcoast() {
digitalWrite (pinB1, LOW);
digitalWrite (pinB2, LOW);
}
void motorAon() {
digitalWrite (enableA, HIGH);
}
void motorBon() {
digitalWrite (enableB, HIGH);
}
void motorAoff() {
digitalWrite (enableA, LOW);
}
void motorBoff() {
digitalWrite (enableB, LOW);
}
// Setup movement functions
void forward (int duration) {
motorAforward();
motorBforward();
delay (duration);
}
void backward (int duration) {
motorAbackward();
motorBbackward();
delay (duration);
}
void right (int duration) {
motorAbackward();
motorBforward();
delay (duration);
}
void left (int duration) {
motorAforward();
motorBbackward();
delay (duration);
}
void coast (int duration) {
motorAcoast();
motorBcoast();
delay (duration);
}
void breakRobot (int duration) {
motorAstop();
motorBstop();
delay (duration);
}
void disableMotors() {
motorAoff();
motorBoff();
}
void enableMotors() {
motorAon();
motorBon();
}
// Setup Ultrasonic Sensor distance measuring
int distance() {
int duration, distance;
digitalWrite(trigPin, HIGH);
delayMicroseconds(1000);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
return distance;
}
// Setup the main car function
void car() {
int distance_0;
distance_0 = distance();
// Keep moving forward in a straight line while distance of objects > 15cm
while(distance_0 > 15)
{
// Keep moving servo motor back and forth to scan surroundings
// This allows the ultrasonic sensor to see more to its left and right
if(servposnum == 0)
{
myservo.writeMicroseconds (1900);
servposnum = 1;
delay(100);
}
else if(servposnum == 1)
{
myservo.writeMicroseconds (2200);
servposnum = 2;
delay(100);
}
else if(servposnum == 2)
{
myservo.writeMicroseconds (1900);
servposnum = 3;
delay(100);
}
else if(servposnum == 3)
{
myservo.writeMicroseconds (1600);
servposnum = 1;
delay(100);
}
motorAon();
motorBon();
forward(1);
distance_0 = distance();

}
breakRobot(0);
}
void avoid()
{
// Go back and turn slightly right to move car in new direction if object detected < 15cm away
backward(500);
right(360);

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