RC Car to Obstacle Avoiding Robot

This is the old car.

I find an old RC car in my shed.
How I turned into a robot? It's simple, I will explain you in next step.

The Old RC Car

1. Removing the casing
2.Removing the circuit.

Control

To control it I used:
-Arduino UNO
-A motor driver TB6612FNG

Power:
8 x 1.5 alkaline battery
- 4 for arduino
- 4 for driver -> motor

The Space

To put Arduino and driver on car we need a smooth space. I use the plastic, finished whit a wire brush.

I kept the original screws for a easy conection.

'Eye'

Robot need a sensor to detect the obstacles.

Sensor: IR Sharp sensor.

I want to use a servo for turn the sensor at right and left, but I dropped this idea.

PCB

For easy using I make a PCB with a female pin (If it breaks I can replace) and 2 wire holder (with screw).
I make the PCB in my enchanting machine (reduced the time).

FINISHING

Now I have all the component ready for mount.
1.Put the battery holder
2.Put the Arduino UNO and Driver
3.Put the sensor
4.Wire it up

The robot is complete, but don't have code.

CODE



int DIST; //distance
//motor A connected between A01 and A02
//motor B connected between B01 and B02
int STBY = 10; //standby
//Motor A
int PWMA = 3; //Speed control 
int AIN1 = 9; //Direction
int AIN2 = 8; //Direction
//Motor B
int PWMB = 5; //Speed control
int BIN1 = 11; //Direction
int BIN2 = 12; //Direction
void setup(){
  pinMode(STBY, OUTPUT);
  pinMode(PWMA, OUTPUT);
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);
  pinMode(PWMB, OUTPUT);
  pinMode(BIN1, OUTPUT);
  pinMode(BIN2, OUTPUT);
}
void loop(){
 // read the input on analog pin 0:
  int sensorValue = analogRead(A0);
  // Convert the analog reading (which goes from 0 - 1023) to a voltage (0 - 5V):
  float DIST = sensorValue * (5.0 / 1023.0);
  
  if(DIST < 2)
  {
    move(1, 0, 1); //direction
    move(2, 255, 1); //full speed  front
  }
  
  if(DIST > 2)
  {
    move(1, 150, 1); //direction: right
    move(2, 200, 0); // back
  }
}
void move(int motor, int speed, int direction){
//Move specific motor at speed and direction
//motor: 0 for B 1 for A
//speed: 0 is off, and 255 is full speed
//direction: 0 clockwise, 1 counter-clockwise
  digitalWrite(STBY, HIGH); //disable standby
  boolean inPin1 = LOW;
  boolean inPin2 = HIGH;
  if(direction == 1){
    inPin1 = HIGH;
    inPin2 = LOW;
  }
  if(motor == 1){
    digitalWrite(AIN1, inPin1);
    digitalWrite(AIN2, inPin2);
    analogWrite(PWMA, speed);
  }else{
    digitalWrite(BIN1, inPin1);
    digitalWrite(BIN2, inPin2);
    analogWrite(PWMB, speed);
  }
}
void stop(){
//enable standby  
  digitalWrite(STBY, LOW); 
}