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how to make Obstacle avoiding robot at home

Arduino automatic robot
Needed
  • Arduino UNO
    • Mini breadboard
    • L298 motor driver module
    • 2x dc motors with wheels
    • HC-SR04 ultrasonic sensor
    • Micro servo motor
    • Button
    • Red LED
    • 220 Ohm resistor
    • 9V battery holder (with or without power jack)
    • 8 spacers (male-female)
    • 8 nuts and 8 screws
    Make this circuit perfectly
    Get the code of your arduino from here 

    
//Obstacle Avoiding robot
    

    
//Praveen Sridhar 
    

    
//psbots.blogspot.com
    

    
const int left=1,mid=2,right=3;
    

    
const int i1=8,i2=10,ea=9,i3=5,i4=7,eb=6;
    

    
const int cthres=600,rthres=600,lthres=600;
    

    
int s1=0;
    

    
int s2=0;
    

    
int s3=0;
    

    
int r;
    

    

    

    
void setup()
    

    
{
    

    
  Serial.begin(9600);
    

    
  pinMode(i1,OUTPUT);
    

    
  pinMode(i2,OUTPUT);
    

    
  pinMode(ea,OUTPUT);
    

    
  pinMode(13,OUTPUT);
    

    
  pinMode(i4,OUTPUT);
    

    
  pinMode(eb,OUTPUT);
    

    
}
    

    

    

    
void updateS()
    

    
{
    

    
  s1=analogRead(left);
    

    
  s2=analogRead(mid);
    

    
  s3=analogRead(right);
    

    
}
    

    

    

    
void moveforward()
    

    
{
    

    
 analogWrite(ea,200);
    

    
 analogWrite(eb,200);
    

    
 digitalWrite(i2,LOW);
    

    
 digitalWrite(i1,HIGH);
    

    
 digitalWrite(i4,LOW);
    

    
 digitalWrite(i3,HIGH); 
    

    
}
    

    

    

    
void turnleft()
    

    
{
    

    
  analogWrite(ea,150);
    

    
  analogWrite(eb,150);
    

    
  digitalWrite(i1,LOW);
    

    
  digitalWrite(i2,HIGH);
    

    
  digitalWrite(i4,LOW);
    

    
  digitalWrite(i3,HIGH);
    

    
}
    

    

    

    
void turnright()
    

    
{
    

    
  analogWrite(eb,150);
    

    
  analogWrite(ea,150);
    

    
  digitalWrite(i2,LOW);
    

    
  digitalWrite(i1,HIGH);
    

    
  digitalWrite(i3,LOW);
    

    
  digitalWrite(i4,HIGH);
    

    
}  
    

    

    

    
void loop()
    

    
{ 
    

    
  moveforward();
    

    
  
    

    
  updateS();
    

    
  
    

    
  if(s2>cthres)
    

    
  {
    

    
    randomSeed(analogRead(0));
    

    
    r=random(3000);
    

    
    if(r%2==0)
    

    
        turnright();
    

    
    else
    

    
        turnleft();
    

    
    while((s3>rthres-10||s2>cthres-10))
    

    
    {
    

    
      updateS();
    

    
      delay(10);
    

    
    }
    

    
    moveforward();
    

    
  }
    

    
  
    

    
  if((s3>rthres)||((s3>rthres)&&(s2>cthres)))
    

    
  {
    

    
    turnleft();
    

    
    while(s3>rthres-10)
    

    
    {
    

    
      updateS();
    

    
      delay(10);
    

    
    }
    

    
    moveforward();
    

    
  }
    

    
  
    

    
  if((s1>lthres)||((s1>lthres)&&(s2>cthres)))
    

    
  {
    

    
    turnright();
    

    
    while(s1>lthres-10)
    

    
    {
    

    
      updateS();
    

    
      delay(10);
    

    
    }
    

    
    moveforward();
    

    
  }
    

    
    
    

    
}
    

    

    

    
This code is depend on your pin configuration

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