DIY 2WD Obstacle Avoider Smart Car Robot

DIY 2WD Obstacle Avoider Smart Car Robot

2WD Obstacle Avoider Smart Car Robot

Bahan-bahan
Arduino Uno R3 + USB Cable
Motor Control Shield
HC-SR04 dan Bracket
Motor DC + Gearbox & Roda
2x 14500 3.7V Li-Ion Battery dan 2xAA Battery Box
2WD Smart Car Chassis dan Spacer
Male to Male Jumper Cable
Male to Female Jumper Cable

Male Pin Header

Library dan Panduan Motor Control Shield

Pin Out

ARDUINO / MOTOR CONTROL SHIELD
A4	ECHO HC-SR04
A5	TRIGGER HC-SR04
M3	MOTOR / RODA KIRI
M4	MOTOR / RODA KANAN
EXT_PWR	BATTERY (Jumper PWR_JMP)

Sketch
#include <AFMotor.h> // import AdaFruit Motor Shield Library
#define trigPin A5 // define the pins of Ultrasonic HC-SR04 pins
#define echoPin A4
AF_DCMotor motor3(3, MOTOR34_64KHZ); // set up motors
AF_DCMotor motor4(4, MOTOR34_8KHZ);

void setup()
{
  Serial.begin(9600); // begin serial communitication 
  Serial.println("Motor test!");
  pinMode(trigPin, OUTPUT); // set the trig pin to output (Send sound waves)
  pinMode(echoPin, INPUT);  // set the echo pin to input (recieve sound waves)
  motor3.setSpeed(200); //set the speed of the motors, between 0-255
  motor4.setSpeed (200); 
}

void loop()
{
  long duration, distance; // start the scan
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(30); // delays are required for a succesfull sensor operation
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(38); // this delay is required as well!
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = (duration/2)/29.1; // convert the distance to centimeters
  if (distance < 25) /*if there's an obstacle 25 centimers, ahead, do the following: */
  {  
    Serial.println ("Close Obstacle detected!" );
    Serial.println ("Obstacle Details:");
    Serial.print ("Distance From Robot is " );
    Serial.print ( distance);
    Serial.print ( " CM!"); // print out the distance in centimeters.
    Serial.println (" The obstacle is declared a threat due to close distance. ");
    Serial.println (" Turning !");
    motor3.run(FORWARD); // Turn as long as there's an obstacle ahead.
    motor4.run (BACKWARD);
  }
  else
  {
    Serial.println ("No obstacle detected, going forward");
    delay (10);
    motor3.run(FORWARD); //if there's no obstacle ahead, Go Forward!
    motor4.run(FORWARD); 
  } 
}

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