Introduction to Arduino Programming

for Robotic Application

IEEE RAS - VIT CHENNAI
COORDINATORS:

SUMIT
HARIPRASAD
SHIVARAM K K
KEERTI M
AIM:
This Workshop aims to provide :

1.The opportunity to gain theoretical knowledge of Arduino.

2.Understand the structure, mechanism and working of Obstacle Avoidance Robot.

3.Understand the underlying principles of obstacle avoidance.

4.Visualize the live demonstration of the working model.

5.To understand the basics on how to create/ simulate an actual robot.

OUTCOMES:
By the end of this workshop :

1.We will have a comprehensive understanding of various components.

2.Understand the basics of Arduino.

3.Understand the process of Circuit Simulation in TinkerCad software.

● Through this workshop we will see the process of building an obstacle avoiding robot
step by step.

1.Introduction to basic components.

2.TinkerCad simulation

3.Programming of Arduino Uno.

4.Live demonstration of the working model.

 Components Used

1.ARDUINO UNO BOARD

2.L298N/293D MOTOR DRIVER

3.BATTERY

4.TWO DC MOTORS

5.JUMPER CABLES

6.THREE HC-SR04 SENSORS

7.WHEELS

8.SWITCH
 L298N/293D - Motor Driver
● The L298N is a dual H-Bridge motor driver.

● It allows speed and direction control of two DC

motors or one stepper motor at the same time.
● We can only have full control over a DC motor if
we can control its speed and spinning direction.

● PWM – to control speed

● H-Bridge – to control the spinning direction
Pins:

VCC Used to Supply power to the motor.Input

voltage between 5V to 35V.

GND GND is a ground pin.

IN1, IN2 These pins are input pins of Motor A.Used to

control the rotating direction of motor A.

IN3, IN4 These pins are input pins of Motor B. Used

to control the rotating direction of Motor B.

ENA ENA pin is used to control the speed of Motor

A.

ENB ENB pin is used to control the speed of Motor

B.
Working:

Case 1:
When all switches are open then no current goes to
the Motor terminals. So, in this condition, the motor is
stopped (not working).
Case 2:
When the switch S1 and S4 are closed. In this condition
motor start rotating in a particular direction (clockwise).
Case 3:

When S2 and S3 switches are closed. In this

condition motor start rotating in a particular direction
(anticlockwise).
 Ultrasonic Sensor
● An ultrasonic sensor is an instrument that measures the
distance to an object using ultrasonic sound waves.

● Uses a transducer to send and receive ultrasonic pulses

that relay back information about an object’s proximity.

● Ultrasonic sensors work by sending out a sound wave at

a frequency above the range of human hearing.

● The sensor determines the distance to a target by

measuring time lapses between the sending and
receiving of the ultrasonic pulse.
Working:
The Trig pin of HC-SR04 is made high for at least 10 us. A sonic beam is transmitted with 8 pulses of
40KHz each.
The signal then hits the surface and return back and captured by the receiver Echo pin of HC-SR04. The
Echo pin had already made high at the time sending high.
 Design and Working of Obstacle Avoidance Robot
● In this robot, we will be using an Arduino Uno microcontroller along with 3 ultrasonic sensors.
● The Arduino Uno will be programmed to use the data from the sensors to determine the robot's
position.
● The robot will move forward until it detects an obstacle, then it will use the sensors to determine
which direction to turn to avoid the obstacle. This process will continue until the robot reaches the
end point.
● The robot is programmed to move forward until it detects an obstacle using the ultrasonic sensors.
The sensors emit ultrasonic waves and measure the time taken for the waves to bounce back from
the obstacle. This data is used to calculate the distance between the robot and the obstacle.
● The Arduino Uno microcontroller is responsible for controlling the robot's movements and
processing the sensor data. The program for the robot is written using the Arduino IDE and
uploaded to the microcontroller.
 Arduino

● microcontroller board that can be programmed to interact with the physical world
through various sensors
Arduino Types

LilyPad Arduino
The LilyPad Arduino is considered as other Arduino
board type that is designed for integrating with
wearable projects and e-textile projects. This board
comes in round shape that helps to decrease the
snagging and can be easily connected to other devices.
This board uses the Atmega328 microcontroller and
Arduino bootloader in it. This board uses very less
external component in it that makes the design easy
and compatible.
Arduino Types

Arduino Mega
This boards is considered as the microcontroller
that uses the Atmega2560 in it. There are total 54
input pins and output pins in it in which 14 pins
are of PWM output, 4 pins are of hardware port,
16 pins as analog inputs. The board also contain
one USB connection, ICSP header, power jack
and one REST pin. Used in home automation
appliances
Arduino Types

Arduino Leonardo
This board is considered as the microcontroller
that uses the Atmega32u4 in it. There are total 20
digital input pins and output pins in it, in that 7
pins are used As PWM and 12 pins used as
analog inputs. The board also contain one micro
USB connection, power jack, and one RESET
button fit in it. There are additional pins which act
as crystal oscillator of frequency 16 MHz. used in
making of keyboards, mouse, joystick and other
appliances.
Arduino Types

Arduino Red Board

The Arduino Red board is another type of Arduino board
that uses the mini USB cable for getting programmed and
the Arduino IDE is used for this purpose. This board is
compatible with Windows 8 operating system and there is
no need to change the security settings to make this
board working. The Red board uses the FTDI chip and
USB chip for the connection to other device. As the design
of red board is very simple it can be easily integrate with
other projects. The only requirement is to plug the red
board and select appropriate option and can upload
program in no time. Used in IoT projects
Arduino Types

Arduino UNO
The development of Arduino UNO board is
considered as new compared to other Arduino
boards. This board comes up with numerous
features that helps the user to use this in their
project. The Arduino UNO uses the Atmega16U2
microcontroller that helps to increase the transfer
rate and contain large memory compared to other
boards. No extra devices are needed for the
Arduino UNO board like joystick, mouse,
keyboard and many more. The Arduino UNO
contain SCL and SDA pins and also have two
additional pins fit near to RESET pin.
Arduino Shields

● Boards plugged over the Arduino board to expand its functionalities.

● Different varieties of shields used for various tasks, such as Arduino motor shields,
Arduino communication shields, etc.
● Increases the capabilities of the projects.
● Makes our work easy.
● The pin position of the shields is similar to the Arduino boards.
● We can also connect the modules and sensors to the shields with the help of the
connection cable.
Arduino Motor Shield

● Allows you to easily control motor direction and speed using an Arduino
● By allowing you to simply address Arduino pins, it makes it very simple to incorporate a
motor into your project
● allows you to be able to power a motor with a separate power supply of up to 12v.
Arduino UNO pin diagram
Obstacle detection pin diagram
 CODING IN ARDUINO
1. IDE - The Arduino software (IDE) is open-source software.
2. Code online or download it for your PC.
 CODING IN ARDUINO

Setup contains an initial part of the code to be

executed. The pin modes, libraries, variables,
etc., are initialized in the setup section. It is
executed only once during the uploading of the
program and after reset or power up of the
Arduino board.

The loop contains statements that are executed

repeatedly. The section of code inside the curly
brackets is repeated depending on the value of
variables.
 CODING IN ARDUINO - SYNTAX
pinMode (pin,value)

Mode: We can set the mode as INPUT or OUTPUT

digitalWrite (pin, value)

digitalWrite (13, HIGH);

High : value as high depending on the board voltage

Low : 0 volt

delay (time)
Time must be in milli-seconds

analogWrite(pin, value)

value: the duty cycle: between 0 (always off) and

255 (always on). Allowed data types: int.

 CODING IN ARDUINO - LED BLINK
void setup (){

pinMode ( 13, OUTPUT);

void loop (){

digitalWrite (13, HIGH); // led connected to pin 13.

delay (5000); // delay 5 sec

digitalWrite (13, LOW); // turn off led

delay (1000); // delay 1 sec

}
 CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT
const int trigPin1 = 11; //sends waves
const int in3 = 4; //rm1

const int echoPin1 = 10; //if receive send1

const int in4 = 3; //rm2

const int trigPin2 = A3; // Analog 3;

const int enA = 5;

const int echoPin2 = A4;

const int enB = 6;

const int trigPin3 = A2;

#define PWM 200 //pulseWidthMod

const int echoPin3 = A5;

#define DIS 25 //threshold dist

const int in1 = 9; //lm1

const int in2 = 8; //lm2

 CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT
void setup()
pinMode (in1, OUTPUT);
{
pinMode(trigPin1, OUTPUT); pinMode (in2, OUTPUT);

pinMode(echoPin1, INPUT); pinMode (in3, OUTPUT);

pinMode(trigPin2, OUTPUT); pinMode (in4, OUTPUT);

pinMode(echoPin2, INPUT); pinMode (enA, OUTPUT);

pinMode(trigPin3, OUTPUT); pinMode (enB, OUTPUT);

pinMode(echoPin3, INPUT); }
 CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT

void loop() {

if ( FrontSensor() < DIS && RightSensor () <DIS && LeftSensor ()<DIS) // obstacle in front of all 3 sides
{

turn_right ();

delay(3000);

else if (FrontSensor() <DIS && RightSensor () <DIS && LeftSensor ()>DIS) // obstacle on right and front sides

turn_left ();

delay(3000);

}
 CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT

else if (FrontSensor() <DIS && RightSensor () >DIS && LeftSensor() < DIS) // obstacle on left and front sides {

turn_right ();

delay(3000);

else if (FrontSensor() <DIS && RightSensor () >DIS && LeftSensor ()>DIS) //obstacle on front sides

turn_right ();

delay(3000);}

else if (FrontSensor() >DIS && RightSensor () >DIS && LeftSensor ()<DIS) // obstacle on left sides

turn_right ();
delay(3000);
}
 CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT

else if (FrontSensor() >DIS && RightSensor () <DIS && LeftSensor()>DIS) // obstacle on right sides

turn_left ();

delay(3000);

else{

forward();

}
 CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT
void forward (){ void turn_right ()
digitalWrite(in1, HIGH); //dir1 {
digitalWrite(in2, LOW); //dir2 digitalWrite(in1, LOW);
digitalWrite(in3, HIGH); digitalWrite(in2, HIGH);
digitalWrite(in4, LOW); digitalWrite(in3, HIGH);
analogWrite(enA, PWM); //speed digitalWrite(in4, LOW);
analogWrite(enB, PWM); analogWrite(enA, PWM);
} analogWrite(enB, PWM);
void turn_left (){
digitalWrite(in1, HIGH); }
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
analogWrite(enA, PWM);
analogWrite(enB, PWM);
}
CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT
long FrontSensor ()
{
long dur;
digitalWrite(trigPin1, LOW); // dont send signal
delayMicroseconds(5);
digitalWrite(trigPin1, HIGH); // send UltraSonic signal
delayMicroseconds(10);
digitalWrite(trigPin1, LOW); // stop sending US
dur = pulseIn(echoPin1, HIGH); // returns duration
return (dur/60); // convert the time to dist
}

//speed in air: 343m/s => 1cm in 30 sec.

 CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT

long RightSensor ()
{
long dur;

digitalWrite(trigPin2, LOW);
delayMicroseconds(5);

digitalWrite(trigPin2, HIGH);
delayMicroseconds(10);

digitalWrite(trigPin2, LOW);
dur = pulseIn(echoPin2, HIGH);

return (dur/60);

}
 CODING IN ARDUINO - OBSTACLE AVOIDANCE ROBOT

long LeftSensor ()
{
long dur;
digitalWrite(trigPin3, LOW);
delayMicroseconds(5);
digitalWrite(trigPin3, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin3, LOW);
dur = pulseIn(echoPin3, HIGH);
return (dur/60); // convert the distance to centimeters.

}
Explanation for movement
1. digitalWrite(in1, HIGH);: This sets the in1 pin to HIGH, which means the corresponding terminal of the motor driver is connected
to the positive terminal of the battery.
2. digitalWrite(in2, LOW);: This sets the in2 pin to LOW, which means the corresponding terminal of the motor driver is connected
to the negative terminal of the battery.
3. digitalWrite(in3, HIGH);: This sets the in3 pin to HIGH, which means the corresponding terminal of the second motor driver is
connected to the positive terminal of the battery. This causes the second motor to rotate in the same direction as the first motor.
4. digitalWrite(in4, LOW);: This sets the in4 pin to LOW, which means the corresponding terminal of the second motor driver is
connected to the negative terminal of the battery. This completes the circuit and allows the second motor to rotate in the same
direction as the first motor.
5. analogWrite(enA, PWM);: This sets the enA pin to a specific pulse width modulation (PWM) value, which controls the speed of
the first motor. The higher the PWM value, the faster the motor will spin.
6. analogWrite(enB, PWM);: This sets the enB pin to the same PWM value as enA, which controls the speed of the second motor.
 Time For Some Hands on
Experience
LED + UltraSonic code : https://github.com/Shivaram35144/IEEERAS

Connections : https://www.tinkercad.com/things/18js3FMGefD

Connections for Obstacle Avoidance : https://www.tinkercad.com/things/cFO8Mf9D4Ix

Time For Demonstration
THANK YOU !