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obstacle_avoidance.ino
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obstacle_avoidance.ino
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#include "Ultrasonic.h"
#include <Servo.h>
Servo ser_pin;
Ultrasonic ultra(0,1);
Ultrasonic ultra2(2,8);
const int left_en=3;
const int right_en=11;
const int m1=6;
const int m2=7;
const int m3=4;
const int m4=5;
const int blink_right=A0;
const int blink_left=A1;
int right_turn=0;
int left_turn=0;
int turnL=0;
int turnR=0;
int dist;
int dist1;
float time_take=0.0;
int z=0;
void setup()
{
ser_pin.attach(9);
pinMode(m1,OUTPUT);
pinMode(m2,OUTPUT);
pinMode(m3,OUTPUT);
pinMode(m4,OUTPUT);
pinMode(blink_left,OUTPUT);
pinMode(blink_right,OUTPUT);
}
void led_left()
{
digitalWrite(blink_left,HIGH);
delay(80);
digitalWrite(blink_left,LOW);
delay(80);
}
void led_right()
{
digitalWrite(blink_right,HIGH);
delay(80);
digitalWrite(blink_right,LOW);
delay(80);
}
void go_front()
{
digitalWrite(m1,HIGH);
digitalWrite(m2,LOW);
analogWrite(left_en,80);
digitalWrite(m3,LOW);
digitalWrite(m4,HIGH);
analogWrite(right_en,80);
}
void go_left()
{
digitalWrite(m1,LOW);
digitalWrite(m2,HIGH);
analogWrite(left_en,80);
digitalWrite(m3,LOW);
digitalWrite(m4,HIGH);
analogWrite(right_en,200);
led_left();
}
void go_right()
{
digitalWrite(m1,HIGH);
digitalWrite(m2,LOW);
analogWrite(left_en,200);
digitalWrite(m3,HIGH);
digitalWrite(m4,LOW);
analogWrite(right_en,80);
led_right();
}
void go_stop()
{
digitalWrite(m1,LOW);
digitalWrite(m2,LOW);
digitalWrite(m3,LOW);
digitalWrite(m4,LOW);
}
void go_back()
{
digitalWrite(m1,LOW);
digitalWrite(m2,HIGH);
analogWrite(left_en,100);
digitalWrite(m3,HIGH);
digitalWrite(m4,LOW);
analogWrite(right_en,100);
led_left();
led_right();
}
void loop()
{ ser_pin.write(90);
dist = ultra.Ranging(CM); dist1 = ultra2.Ranging(CM); delay(10);
if ((dist1<=6)&&(dist>10))
{
go_front();
}
else if ((dist1<=6)&&(dist<10))
{
go_stop();
delay(10);
go_back();
delay(10);
go_stop();
delay(10);
for(int i=90; i>25; i--)
{
ser_pin.write(i);
delay(10);
}
turnL = ultra.Ranging(CM);
delay(10);
for(int i=25; i<155; i++)
{
ser_pin.write(i);
delay(10);
}
turnR= ultra.Ranging(CM);
delay(10);
if (turnL > turnR)
{
go_left();
delay(600);
}
else
{
go_right();
delay(600);
}
}
else
{
go_back();
delay(200);
}
}