Code and Diagram For Obstacle Avoiding Robot

Code//

//AKSHIT INNOVATION LAB

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#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 = 10;

const int LeftMotorBackward = 11;

const int RightMotorForward = 7;

const int RightMotorBackward = 6;

//sensor pins

#define trig_pin A5 //analog input 5

#define echo_pin A4 //analog input 4

#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(12,OUTPUT);

pinMode(13,OUTPUT);

pinMode(RightMotorForward, OUTPUT);

pinMode(LeftMotorForward, OUTPUT);

pinMode(LeftMotorBackward, OUTPUT);

pinMode(RightMotorBackward, OUTPUT);

servo_motor.attach(3); //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);

digitalWrite(12, HIGH);

digitalWrite(13, LOW);

}

}

void moveBackward(){

goesForward=false;

digitalWrite(LeftMotorBackward, HIGH);

digitalWrite(RightMotorBackward, HIGH);

digitalWrite(LeftMotorForward, LOW);

digitalWrite(RightMotorForward, LOW);

digitalWrite(12, LOW);

digitalWrite(13, HIGH);

}

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);

}