OBSTACLE AVOIDER ROBOT WITH ULTRASONIC SENSOR

Hey everyone. Today I will show how can you make an OBSTACLE AVOIDER ROBOT WITH ULTRASONIC SENSOR . You can easly make your OBSTACLE AVOIDER ROBOT and have fun. Let's look steps...

Here is a list of parts that i used to make this project:

• Arduino UNO
• 2*DC Motor
• L298 Motor Driver
• On/Off Switch
• 10*1.2V Battery (9V battery will work)
• HC 04 Ultrasonic Sensor
• Drunk Wheel
• Jumper Wires (male to male and male to female)

The code has explanations of code functions. You will easly understand it. If you have a problem , you can contact me.

//satdeliaslan.wordpress.com//
const int in1 = 9;      //BACK RIGHT
const int in2 = 8;      //FORWARD RIGHT  
const int in3 =  10;    //FORWARD LEFT
const int in4 =  11;    //BACK LEFT
const int enA = 5;      //left motor speed
const int enB = 6;      //right motor speed
                        //!enable pins have to connect with arduino's PWM pins!
const int trig1=A1;     //HC 04 ultrasonic sensor trigpin
const int echo1=A2;     //HC 04 ultrasonic sensor echopin
void setup(){
  pinMode(in1, OUTPUT); //all motor pins are output
  pinMode(in2, OUTPUT);  
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(trig1,OUTPUT); //trigpin is output because it sends sound wave 
  pinMode(echo1,INPUT);  //echopin is ınput because it receives sound wave 
  Serial.begin(9600);
}
void loop(){
  long mesafe1;                 //we define distance 
  long sure1;                   //we define time
    digitalWrite(trig1,LOW);    //first, we start trigpin low 
    delay(50);                  
    digitalWrite(trig1,HIGH);   //second, we open trigpin and send sound made
    delay(50);                  
    digitalWrite(trig1,LOW);    //then, we close again for other loop
   sure1=pulseIn(echo1,HIGH);   //then, we open echopin and receive sound made and
                                //we measure the time with pulseIn() function.
   mesafe1=sure1/2/29.1;          //finally, we measure the distance between obstacle and the robot 
  
  if(mesafe1<20){               //if distance is smaller than 20cm,we adjust robot for 
       //turning left
    analogWrite(enA,  255);  
    digitalWrite(in1,HIGH);
    digitalWrite(in2, LOW);
    analogWrite(enB,  255);  
    digitalWrite(in3,HIGH);
    digitalWrite(in4, LOW);
  }
  else{                         //if distance is bigger than 20cm,we adjust tobot for     
    //going forward
    analogWrite(enA,  255);  
    digitalWrite(in1, LOW);
    digitalWrite(in2,HIGH);
    analogWrite(enB,  255);  
    digitalWrite(in3,HIGH);
    digitalWrite(in4, LOW);
  }
  
}

THANKS FOR VIEWING