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Arduino UNO-Based Obstacle Avoidance Robot with Ultrasonic Sensor and Servo Control

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Circuit Documentation

Summary

This document provides a detailed overview of a circuit designed to control a robotic vehicle using an Arduino UNO microcontroller. The circuit includes an L298N DC motor driver, an HC-SR04 ultrasonic sensor, two hobby motors, a servo motor, and a 7.4V power supply. The Arduino UNO is programmed to control the motors and read distance measurements from the ultrasonic sensor to navigate the vehicle.

Component List

  1. Arduino UNO

    • Description: Microcontroller board based on the ATmega328P.
    • Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0

  2. L298N DC Motor Driver

    • Description: Dual H-Bridge motor driver.
    • Pins: OUT1, OUT2, 12V, GND, 5V, OUT3, OUT4, 5V-ENA-JMP-I, 5V-ENA-JMP-O, +5V-J1, +5V-J2, ENA, IN1, IN2, IN3, IN4, ENB

  3. HC-SR04 Ultrasonic Sensor

    • Description: Ultrasonic distance sensor.
    • Pins: VCC, TRIG, ECHO, GND

  4. Motor amarillo motorreductor hobby

    • Description: Hobby motor with gearbox.
    • Pins: vcc, GND

  5. Servo

    • Description: Servo motor for precise control.
    • Pins: gnd, vcc, pulse

  6. 7.4V Power Supply

    • Description: Power supply for the circuit.
    • Pins: +, -

Wiring Details

Arduino UNO

L298N DC Motor Driver

HC-SR04 Ultrasonic Sensor

Motor amarillo motorreductor hobby

Servo

7.4V Power Supply

Code Documentation

#include <Servo.h>

Servo myServo;

const int trigPin = 2;
const int echoPin = 3;
const int RVS1 = 4;
const int RVS2 = 5;
const int FWD1 = 6;
const int FWD2 = 7;

int leftDistance;
int middleDistance;
int rightDistance;

void setup() { 
  Serial.begin(9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(RVS1, OUTPUT);
  pinMode(RVS2, OUTPUT);
  pinMode(FWD1, OUTPUT);
  pinMode(FWD2, OUTPUT);

  myServo.attach(8);
  myServo.write(90);
  delay(200);
}

void loop() {
  leftDistance = checkDirection(30); // Check left
  Serial.print("Left Distance: ");
  Serial.print(leftDistance);
  Serial.println(" cm");
  delay(2000);

  middleDistance = checkDirection(90); // Check middle
  Serial.print("Middle Distance: ");
  Serial.print(middleDistance);
  Serial.println(" cm");
  delay(2000);

  rightDistance = checkDirection(150); // Check right
  Serial.print("Right Distance: ");
  Serial.print(rightDistance);
  Serial.println(" cm");
  delay(2000);

  myServo.write(90);
}

int measureDistance() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  long duration = pulseIn(echoPin, HIGH);
  int distance = duration * 0.034 / 2;
  return distance;
}

int checkDirection(int angle) {
  myServo.write(angle);
  delay(500);
  return measureDistance();
}

void moveForward() { // Forward
  digitalWrite(RVS1, HIGH);
  digitalWrite(RVS2, LOW);
  digitalWrite(FWD1, HIGH);
  digitalWrite(FWD2, LOW);
}

void moveReverse() { // Reverse
  digitalWrite(RVS1, LOW);
  digitalWrite(RVS2, HIGH);
  digitalWrite(FWD1, LOW);
  digitalWrite(FWD2, HIGH);
  delay(200);
  stopCar();
}

void stopCar() { // Stop
  digitalWrite(RVS1, LOW);
  digitalWrite(RVS2, LOW);
  digitalWrite(FWD1, LOW);
  digitalWrite(FWD2, LOW);
}

void turnLeft() { // Left turn
  digitalWrite(RVS1, LOW);
  digitalWrite(RVS2, HIGH);
  digitalWrite(FWD1, HIGH);
  digitalWrite(FWD2, LOW);
  delay(200);
  stopCar();
}

void turnRight() { // Right turn
  digitalWrite(RVS1, HIGH);
  digitalWrite(RVS2, LOW);
  digitalWrite(FWD1, LOW);
  digitalWrite(FWD2, HIGH);
  delay(200);
  stopCar();
}

This code is designed to control the robotic vehicle. It uses the ultrasonic sensor to measure distances in different directions and the servo motor to rotate the sensor. The motor driver is used to control the movement of the vehicle. The code includes functions to move the vehicle forward, reverse, stop, and turn left or right.