This is the 14core design Obstacle Avoidance BOT with L293D Shield and HC-SR04 and Servo, which is capable of avoiding obstacles using an Ultrasonic Ranging Sensor. The HC-SR04 is economical sensor provides 2cm to 400cm of non-contact measurement functionality with a ranging accuracy that can reach up to 3mm. Each HC-SR04 module includes an ultrasonic transmitter, a receiver and a control circuit. There are only four pins that you need to worry about on the HC-SR04: VCC (Power), Trig (Trigger), Echo (Receive), and GND (Ground). If you’re new to H-BRIDGE / Motor controller just follow also this link L293D / L298N.
Components Required
- Arduino Microcontroller
- L298N / l293D UNO Shield
- Smart Car Kit / Build your own Kit
- HC-SR04 Ultrasonic Raging Sensor
- 2 or 4 Gearhead Motors
- Servo
- Jumper Wire / DuPont Wire (Optional)
- Bread-board (Optional)
Wiring Diagram
Source Code
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/* 14CORE OBSTACLE AVOINDACE ROBOT ======================TEST CODE */ #include <NewPing.h> // #include <AFMotor.h> // You can download the code library below #include <Servo.h> // // Ultranic Pin Configuration #define TRIG_PIN A5 #define ECHO_PIN A4 #define MAX_DISTANCE 400 #define MAX_SPEED 255 #define MAX_SPEED_OFFSET -8 #define COLL_DIST 20 #define TURN_DIST COLL_DIST+10 #define ACT_TIME 250 NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); AF_DCMotor motorR(1, MOTOR12_1KHZ); // Set motor #1, 1kHz PWM AF_DCMotor motorL(4, MOTOR12_1KHZ); // Set motor #2, 1kHz PWM Servo myservo; // Set servo object to control a servo String motorSet = ""; int curDist = 0, pos, speedSet = 0; //int pos; //int speedSet = 0; void setup() { myservo.attach(9); // Set to attach the servo on pin 9 myservo.write(90); // Write 90 to face servo forward delay(2000); motorSet = "FORWARD"; moveForward(); } void loop() { checkPath(); } void checkPath() { int curLeft = 0; int curRight = 0; int curFront = 0; curDist = 0; checkForward(); myservo.write(135); delay(100); for (pos = 135; pos >= 45; pos -= 45) { myservo.write(pos); delay(170); curDist = readPing(); if (curDist < COLL_DIST) { checkCourse(); break; } if (curDist < TURN_DIST) { changePath(); } } } int readPing() { int cm = 0; while (cm < 2) {int uS = sonar.ping(); cm = uS/US_ROUNDTRIP_CM;} return cm; } void checkForward() { if (motorSet=="FORWARD") { motorR.run(FORWARD); motorL.run(FORWARD); } } void changePath() { if (pos < 90) { veerLeft(); } if (pos > 90) { veerRight(); } } void veerRight() { motorR.run(BACKWARD); motorL.run(FORWARD); delay(ACT_TIME); motorR.run(FORWARD); motorL.run(FORWARD); motorSet = "FORWARD"; } void veerLeft() { motorL.run(BACKWARD); motorR.run(FORWARD); delay(ACT_TIME); motorL.run(FORWARD); motorR.run(FORWARD); motorSet = "FORWARD"; } void checkCourse() { moveBackward(); delay(ACT_TIME); moveStop(); setCourse(); } void setCourse() { if (pos < 90) { turnRight(); } if (pos > 90) { turnLeft(); } } void moveBackward() { motorSet = "BACKWARD"; motorR.run(BACKWARD); // Turn right motor backward motorL.run(BACKWARD); // Turn left motor backward for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) { motorL.setSpeed(speedSet); motorR.setSpeed(speedSet+MAX_SPEED_OFFSET); delay(5); } } void moveForward() { motorSet = "FORWARD"; checkForward(); for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) { motorL.setSpeed(speedSet); motorR.setSpeed(speedSet+MAX_SPEED_OFFSET); delay(4); } } void moveStop() { motorR.run(RELEASE); motorL.run(RELEASE); } void turnRight() { motorSet = "RIGHT"; motorR.run(FORWARD); // Turn right motor forward motorL.run(BACKWARD); // Turn left motor backward delay(ACT_TIME); motorSet = "FORWARD"; checkForward(); } void turnLeft() { motorSet = "LEFT"; motorR.run(BACKWARD); // Turn right motor backward motorL.run(FORWARD); // Turn left motor forward delay(ACT_TIME); motorSet = "FORWARD"; checkForward(); } |
Downloads
14CORE Obstacle Avoidance Bot with HC-SR04, L293D Shield, SERVO & Arduino Microcontroller
Where do u connect the arduino?
Note: it is actually an L2983D Arduino UNO Shield. see above image :) Regards
Hi, can you send me a circuit and code for same but 2 servo’s and 2 ultrasonic sensor’s? Thanks