DIY Obstacle Avoiding Robot

This time its a obstacle avoiding robot, which use a ultrasonic sensor , two motors , a motor driver and arduino unoto avoid objects. In this project a servo motor is shown but it is not used.It happens because I didn't find a ultrasonic bracket and I try to make one by my self it was successful but it was programmed to rotate and find the nearest area to go but it didn't rotate properly so I reprogrammed it not to rotate and if it detects a object it must go backwards and turn to right and continue the process. It is not a big problem and you can find a ultrasonic sensor bracket and fix it to the servo motor. I will put both codes, with servo and without servo. And lets make it!!!

Step 1: Things You Need +

Heres the things you needed to make this project.

1. Arduino Uno Board + Cable.
2. Ultrasonic Sensor HC-SR04.
3. Ultrasonic Sensor bracket(I will tell you how to make but you can buy one if you can find).
4. H-Bridge L298N Motor driver.
5. Bovine wheel.
6. Motors with Wheels.
7. A plate or something like in the picture.
8. 2 9v batteries.
9. 2 9v batteries holders.
10. A servo motor sg90.(Optional)
11. A half breadboard.
12. Jumper wires.
13. Small cardboard (Optional).
14. Cable ties.

Step 2: The Bracket (Optional)

Remember that this is optional and you can always buy a ultrasonic sensor bracket. First take a cardboard and fold it as shown and also fix it as shown and make a hole in the centre.Then fix the the bracket to the servo.

Step 3: Solder the Motors!

Now solder the motors and tape it.

Step 4: Mount All in Place!

Now mount the motors, arduino uno, H-Bridge L298N Motor Driver, Servo motor with Ultrasonic Sensor or only ultrasonic sensor(its optional) and the half breadboard.

Step 5: Connections +

Do all the connections as shown in the picture.

Step 6: Hot Glue and Cable Ties!

Now for the power supply I use a 2 9v batteries. In here we must think far and because of that I hot glue the holders on the motor.And there was a problem in this project. It was that the ultrasonic sensor was folded downwards and it was fixed by hot gluing a small piece of cardboard. Also for the cleanness of the robot I tie all the cables with cable ties.

Step 7: Programming.........

There are 2 types of coding for this robot one is with the servo and without servo. I have use without the servo. But don't worry because I will put both with the servo and without the servo codes. And for both codes you must download the newping library, which you can download from below URL.

https://bitbucket.org/teckel12/arduino-new-ping/do..

You must put the newping library to the libraries folder.

Now heres the code for with the servo.

#include <Servo.h>         //Servo motor library. This is standard library
#include <NewPing.h>    //Ultrasonic sensor function library. You must install this library
//our L298N control pins
const int LeftMotorForward = 7;
const int LeftMotorBackward = 6;
const int RightMotorForward = 4;
const int RightMotorBackward = 5;
//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; //our servo name
void setup(){
  pinMode(RightMotorForward, OUTPUT);
  pinMode(LeftMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
  pinMode(RightMotorBackward, OUTPUT);
  
  servo_motor.attach(10); //our servo pin
  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 <= 20){
    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);
}

And here's the code for without the servo.

#include <NewPing.h>         //Ultrasonic sensor function library. You must install this library
//our L298N control pins
const int LeftMotorForward   = 7;
const int LeftMotorBackward  = 6;
const int RightMotorForward  = 5;
const int RightMotorBackward = 4;
//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
void setup(){
  pinMode(RightMotorForward, OUTPUT);
  pinMode(LeftMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
  pinMode(RightMotorBackward, OUTPUT);
  
}
void loop(){
  int distanceRight = 0;
  int distanceLeft = 0;
  delay(50);
  if (distance <= 20){
    moveStop();
    delay(300);
    moveBackward();
    delay(400);
    moveStop();
    delay(300);
    
    
    if (distance >= distanceLeft){
      turnRight();
      moveStop();
    }
    else{
      turnLeft();
      moveStop();
    }
  }
  else{
    moveForward(); 
  }
    distance = readPing();
}
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);
}

Step 8: Done!!!

And our project is done I wish you very good luck on making a Obstacle Avoiding Robot.

And don't forget to vote me!!?????????

Comments

[Deeiz]

I have set it all up from the schematic and I am pretty confident that it is the same - the only difference is that I have put switches off the batteries. When I power up Arduino board the servo and ultrasonic censor works - however when I power up the motor the servo and ultrasonic sensor stop reacting and the wheels keep going forward. I know the wiring is a bit messy - any help would be greatly appreciated.

I have used the sketch for the servo.

Kind regards

Deeiz

[VinayK152]

Does this work 100%?

[DanM5]

Nice work. You can also use a PWM signal on pins 3,5,6 and 9 to change the speed of the motors using analogWrite(). Remember that not all pins support PWM.

[AbhishekA105]

will mini breadboard work

[kinte ryder]

thankx for the feedback :D:D:D:D:D:D:D:D

[AbhishekA105]

will mini breadboard work

[no vax]

Great project like it !

[kinte ryder]

Thank you

[the makerforfuture]

I vote you :D:D:D:D:D:D:D:D:DD:D:D

[kinte ryder]

I apprciate that

[the guysss]

Nice cover picture

[kinte ryder]

thankx

[wayhome]

good

[kinte ryder]

thank you

[daddynon]

Its a good weekend project

[kinte ryder]

welcome

[hizzard]

Nice background for the cover picture?

[kinte ryder]

Thankx

[instructabledddd]

good work

[kinte ryder]

Thank you very much