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Arduino UNO Obstacle Avoiding Car with Ultrasonic Sensor and Servo Motor

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Circuit Documentation

Summary

This document provides a detailed overview of an Arduino-based obstacle-avoiding car circuit. The circuit includes an Arduino UNO, an L293D motor driver shield, an HC-SR04 ultrasonic sensor, two DC motors, and a servo motor. The Arduino UNO is programmed to control the motors and the ultrasonic sensor to navigate and avoid obstacles.

Component List

  1. Arduino UNO

    • Description: A 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. L293D Motor Driver Shield

    • Description: A motor driver shield for Arduino that can control DC motors and servos.
    • Pins: 5v, GND, A0, A1, A2, A3, A4, A5, M+, M2, M1, M3, M4, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, gnd, Aref, ser1, Servo2, +, -, 9v

  3. HC-SR04 Ultrasonic Sensor

    • Description: An ultrasonic distance sensor used for obstacle detection.
    • Pins: VCC, TRIG, ECHO, GND

  4. DC Motor

    • Description: A simple DC motor.
    • Pins: pin 1, pin 2

  5. Servo Motor

    • Description: A servo motor used for precise control of angular position.
    • Pins: gnd, vcc, pulse

Wiring Details

Arduino UNO

L293D Motor Driver Shield

HC-SR04 Ultrasonic Sensor

DC Motor 1

DC Motor 2

Servo Motor

Code Documentation

//SCIENCE N MUSIC STUDIO//
//ARDUINO OBSTACLE AVOIDING CAR//
//  Before uploading the code you have to install the necessary library//
//AFMotor  Library https://learn.adafruit.com/adafruit-motor-shield/library-install //
//NewPing  Library https://github.com/livetronic/Arduino-NewPing// 
//Servo Library https://github.com/arduino-libraries/Servo.git  //
// To Install the libraries go to sketch >> Include Library >> Add .ZIP File  >> Select the Downloaded ZIP files From the Above links //

#include <AFMotor.h>  
#include <NewPing.h>
#include <Servo.h> 

#define TRIG_PIN A0 
#define  ECHO_PIN A1 
#define MAX_DISTANCE 200 
#define MAX_SPEED 190 // sets speed  of DC  motors
#define MAX_SPEED_OFFSET 20

NewPing sonar(TRIG_PIN, ECHO_PIN,  MAX_DISTANCE); 

AF_DCMotor motor1(1, MOTOR12_1KHZ); 
AF_DCMotor motor2(2,  MOTOR12_1KHZ);
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);
Servo  myservo;   

boolean goesForward=false;
int distance = 100;
int speedSet  = 0;

void setup() {

  myservo.attach(10);  
  myservo.write(115);  
  delay(2000);
  distance = readPing();
  delay(100);
  distance =  readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance  = readPing();
  delay(100);
}

void loop() {
 int distanceR = 0;
  int distanceL =  0;
 delay(40);
 
 if(distance<=15)
 {
  moveStop();
  delay(100);
  moveBackward();
  delay(300);
  moveStop();
  delay(200);
  distanceR = lookRight();
  delay(200);
  distanceL = lookLeft();
  delay(200);

  if(distanceR>=distanceL)
  {
    turnRight();
    moveStop();
  }else
  {
    turnLeft();
    moveStop();
  }
 }else
 {
  moveForward();
  }
 distance = readPing();
}

int lookRight()
{
    myservo.write(50);  
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(115);  
    return distance;
}

int lookLeft()
{
    myservo.write(170);  
    delay(500);
    int distance = read