CEASER:THE SMART ROBOT||OBSTACLE AVOIDANCE ROBOT || BLUETOOTH MODE & AUTONOMOUS MODE

DC MOTORS :- D5,D6,D9,D10

SERVOS :- D3,D4

OBSTACLE AVOIDANCE ROBOT:-

#include <Servo.h>

Servo LEFT_SERVO;

Servo RIGHT_SERVO;

int LMT1  = 5;//IN1

int LMT2  = 6;//IN2

int RMT1  = 9;//IN3

int RMT2  = 10;//IN4

#define left_echo A5//LEFT SENSORS

#define left_trig A4

#define center_echo A3//CENTER SENSORS

#define center_trig A2

#define right_echo A1//RIGHT SENSORS

#define right_trig A0

long center_distance;

long left_distance;

long right_distance;

long center_duration;

long left_duration;

long right_duration;

void setup() {

Serial.begin(9600);

  

  pinMode(LMT1, OUTPUT);

  pinMode(LMT2, OUTPUT);

  pinMode(RMT1, OUTPUT);

  pinMode(RMT2, OUTPUT);

    

pinMode(center_trig, OUTPUT);//CENTER SENSORS

pinMode(center_echo, INPUT);

pinMode(left_trig, OUTPUT);//LEFT SENSORS

pinMode(left_echo, INPUT);

pinMode(right_trig, OUTPUT);//RIGHT SENSORS

pinMode(right_echo, INPUT);

  LEFT_SERVO.attach(3);

  RIGHT_SERVO.attach(4);

  LEFT_SERVO.write(90);

  RIGHT_SERVO.write(90);

  delay(500);

  LEFT_SERVO.write(20);

  RIGHT_SERVO.write(150);

  delay(500);

  LEFT_SERVO.write(90);

  RIGHT_SERVO.write(90);

  delay(500);

  LEFT_SERVO.write(20);

  RIGHT_SERVO.write(150);

}

void loop() { 

center_ultrasonic();  

left_ultrasonic();

right_ultrasonic();

//Serial.println("******MKINVENTIONS***********************");

//Serial.print("Left");

//Serial.println(left_distance);

//Serial.print("Center");

//Serial.println(center_distance);

//Serial.print("Right");

//Serial.println(right_distance);

//delay(1000);

  

if(left_distance < 30){

right();

delay(500);

forward();

}

else if(right_distance < 30){

left();

delay(500);

forward();

}

else if(center_distance < 30){

stp();

delay(500);

backward();

delay(1000);

left();

delay(500); 

}

else if(center_distance < 30 && left_distance < 30){

forwardright();

delay(500);

forward();

}

else if(center_distance < 30 && right_distance < 30){

forwardleft();

delay(500);

forward();

}

if(center_distance < 30 && right_distance < 30 && left_distance < 30){

stp();

delay(500);

backward();

delay(1000);

left();

delay(500);

}

else{

 forward();

}

 }

void center_ultrasonic(){//center SENSORS

  digitalWrite(center_trig, LOW);

  delay(2);

  digitalWrite(center_trig, HIGH);

  delay(10);

  digitalWrite(center_trig, LOW);

  center_duration = pulseIn(center_echo, HIGH);

  center_distance = center_duration * 0.034/2;

}

void left_ultrasonic(){//LEFT SENSORS

  digitalWrite(left_trig, LOW);

  delay(2);

  digitalWrite(left_trig, HIGH);

  delay(10);

  digitalWrite(left_trig, LOW);

  left_duration = pulseIn(left_echo, HIGH);

  left_distance = left_duration * 0.034/2;

}

void right_ultrasonic(){//RIGHT SENSORS

  digitalWrite(right_trig, LOW);

  delay(2);

  digitalWrite(right_trig, HIGH);

  delay(10);

  digitalWrite(right_trig, LOW);

  right_duration = pulseIn(right_echo, HIGH);

  right_distance = right_duration * 0.034/2;

}

void forward(){

  analogWrite(LMT1, 255);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 255);

  analogWrite(RMT2, 0);

}

void backward(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 255);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 255);

}

void left(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 255);

  analogWrite(RMT1, 255);

  analogWrite(RMT2, 0);

}

void right(){

  analogWrite(LMT1, 255);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 255);

}

void stp(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 0);

}

void forwardright(){

  analogWrite(LMT1, 255);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 0);

  analogWrite(RMT2, 0);

}

void forwardleft(){

  analogWrite(LMT1, 0);

  analogWrite(LMT2, 0);

  analogWrite(RMT1, 255);

  analogWrite(RMT2, 0);

}

BLUETOOTH CONTROL ROBOT:-

//BLUETOOTH CONTROL CAR WITH L298N MOTOR DRIVER

///MKINVENTIONS MADHAN KUMAR CHIRUGURI

///FOL0 ME ON FACEBOOK AND INSTAGRAM

//MADHAN KUMAR CHIRUGURI

#include <Servo.h>

Servo LEFT_SERVO;

Servo RIGHT_SERVO;

int LMT1  = 5;//IN1

int LMT2  = 6;//IN2

int RMT1  = 9;//IN3

int RMT2  = 10;//IN4

char command; 

void setup() 

{      

  Serial.begin(9600);

   

  pinMode(LMT1, OUTPUT);

  pinMode(LMT2, OUTPUT);

  pinMode(RMT1, OUTPUT);

  pinMode(RMT2, OUTPUT);

  

  digitalWrite(LMT1, 0);

  digitalWrite(LMT2, 0);

  digitalWrite(RMT1, 0);

  digitalWrite(RMT2, 0);

  LEFT_SERVO.attach(3);

  RIGHT_SERVO.attach(4);

  

  LEFT_SERVO.write(20);

  RIGHT_SERVO.write(150);

}

void loop(){

 if(Serial.available() > 0){ 

    command = Serial.read(); 

    Serial.println(command); 

//FORWARD..............

if(command == 'F' ){

  forward();

}

//BACKWARD.............. 

else if(command == 'B' ){

  backward();

}

//LEFT..............

else if(command == 'L' ){

  left();

}

//RIGHT..............

else if(command == 'R' ){

  right();

}

//STOP..............

else{

  stp();

}

if(command == 'X' ){

  LEFT_SERVO.write(20);

  RIGHT_SERVO.write(150);

}

if(command == 'x' ){

  LEFT_SERVO.write(90);

  RIGHT_SERVO.write(90);

}

if(command == 'Y' ){

LEFT_SERVO.write(20);

}

if(command == 'y' ){

LEFT_SERVO.write(90);

}

if(command == 'Z' ){

 RIGHT_SERVO.write(150);

}

if(command == 'z' ){

RIGHT_SERVO.write(90);

}

 }

//forward();

//delay(2000);

//backward();

//delay(2000);

//left();

//delay(2000);

//right();

//delay(2000);

//stp();

//delay(2000);

}

void forward(){

  digitalWrite(LMT1, 255);

  digitalWrite(LMT2, 0);

  digitalWrite(RMT1, 255);

  digitalWrite(RMT2, 0);

}

void backward(){

  digitalWrite(LMT1, 0);

  digitalWrite(LMT2, 150);

  digitalWrite(RMT1, 0);

  digitalWrite(RMT2, 150);

}

void left(){

  digitalWrite(LMT1, 0);

  digitalWrite(LMT2, 255);

  digitalWrite(RMT1, 255);

  digitalWrite(RMT2, 0);

}

void right(){

  digitalWrite(LMT1, 255);

  digitalWrite(LMT2, 0);

  digitalWrite(RMT1, 0);

  digitalWrite(RMT2, 255);

}

void stp(){

  digitalWrite(LMT1, 0);

  digitalWrite(LMT2, 0);

  digitalWrite(RMT1, 0);

  digitalWrite(RMT2, 0);

}

void forwardright(){

  digitalWrite(LMT1, 255);

  digitalWrite(LMT2, 0);

  digitalWrite(RMT1, 0);

  digitalWrite(RMT2, 0);

}

void forwardleft(){

  digitalWrite(LMT1, 0);

  digitalWrite(LMT2, 0);

  digitalWrite(RMT1, 255);

  digitalWrite(RMT2, 0);

}