Circuit Documentation

Summary

This circuit is designed to control multiple servos using an Arduino UNO and an Arduino Sensor Shield v5.0. The servos are powered by a 12V battery, and the Arduino UNO is programmed to control the servos based on distance measurements. The circuit includes the following components:

• Arduino UNO
• Arduino Sensor Shield v5.0
• Multiple Servo Motors
• 12V Battery

Component List

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

Arduino Sensor Shield v5.0

• Description: A shield that provides easy connections for sensors and servos.
• Pins: VCC, SD-VCC, SD-GND, SD-D11, SD-D10, SD-D13, SD-D12, URF01-VCC, URF01-A0, URF01-A1, URF01-GND, GND, SEL1, SEL2, A0-SIG, A0-VCC, A0-GND, A1-SIG, A1-VCC, A1-GND, A2-SIG, A2-VCC, A2-GND, A3-SIG, A3-VCC, A3-GND, A4-SIG, A4-VCC, A4-GND, A5-SIG, A5-VCC, A5-GND, IIC-SCL, IIC-SDA, IIC-GND, IIC-VCC, COM-TX, COM-RX, COM-GND, COM-VCC, APC220-, APC220-D0, APC220-D1, APC220-VCC, APC220-GND, BLUETOOTH-3V3, BLUETOOTH-GND, BLUETOOTH-D0, BLUETOOTH-D1, BLUETOOTH-VCC, AREF-S, AREF-V, AREF-G, GND-S, GND-V, GND-G, 13-S, 13-V, 13-G, 12-S, 12-V, 12-G, 11-S, 11-V, 11-G, 10-S, 10-V, 10-G, 9-S, 9-V, 9-G, 8-S, 8-V, 8-G, 7-S, 7-V, 7-G, 6-S, 6-V, 6-G, 5-S, 5-V, 5-G, 4-S, 4-V, 4-G, 3-S, 3-V, 3-G, 2-S, 2-V, 2-G, 1-S, 1-V, 1-G, 0-S, 0-V, 0-G, ParallelLCD-VCC, ParallelLCD-D13, ParallelLCD-GND, ParallelLCD-D12, ParallelLCD-D2, ParallelLCD-D11, ParallelLCD-D3, ParallelLCD-D10, ParallelLCD-D4, ParallelLCD-D9, ParallelLCD-D5, ParallelLCD-D8, ParallelLCD-D6, ParallelLCD-D7, SerialLCD-D4, SerialLCD-VCC, SerialLCD-D3, SerialLCD-, SerialLCD-D2, SerialLCD-GND

Servo

• Description: A motor that can be controlled to move to a specific position.
• Pins: gnd, vcc, pulse

12V Battery

• Description: A power source providing 12V.
• Pins: -, +

Wiring Details

Arduino UNO

• Connected to: Arduino Sensor Shield v5.0
• Pins:
  • 5V to VCC on Arduino Sensor Shield v5.0
  • GND to GND on Arduino Sensor Shield v5.0

Arduino Sensor Shield v5.0

• Connected to:
  • 12V Battery
  • Multiple Servo Motors
• Pins:
  • VCC to + on 12V Battery
  • GND to - on 12V Battery
  • SEL1 to SEL2 (internal connection)
  • 11-S to pulse on Servo
  • 11-V to vcc on Servo
  • 11-G to gnd on Servo
  • 10-S to pulse on Servo
  • 10-V to vcc on Servo
  • 10-G to gnd on Servo
  • 9-S to pulse on Servo
  • 9-V to vcc on Servo
  • 9-G to gnd on Servo
  • 6-S to pulse on Servo
  • 6-V to vcc on Servo
  • 6-G to gnd on Servo
  • 5-S to pulse on Servo
  • 5-V to vcc on Servo
  • 5-G to gnd on Servo
  • 3-S to pulse on Servo
  • 3-V to vcc on Servo
  • 3-G to gnd on Servo

Servo

• Connected to: Arduino Sensor Shield v5.0
• Pins:
  • pulse to 11-S, 10-S, 9-S, 6-S, 5-S, 3-S on Arduino Sensor Shield v5.0
  • vcc to 11-V, 10-V, 9-V, 6-V, 5-V, 3-V on Arduino Sensor Shield v5.0
  • gnd to 11-G, 10-G, 9-G, 6-G, 5-G, 3-G on Arduino Sensor Shield v5.0

12V Battery

• Connected to: Arduino Sensor Shield v5.0
• Pins:
  • • to VCC on Arduino Sensor Shield v5.0
  • • to GND on Arduino Sensor Shield v5.0

Code Documentation

Arduino UNO Code

#include <Servo.h>

volatile int IN1 = 11;
volatile int IN2 = 6;
volatile int IN3 = 5;
volatile int IN4 = 3;
volatile int rightDistance;
volatile int leftDistance;
Servo servo_4;

void left_side_forward(int speed) {
  analogWrite(IN1, speed * 0.92);
  analogWrite(IN2, 0);
}

void right_side_forward(int speed) {
  analogWrite(IN3, speed);
  analogWrite(IN4, 0);
}

void left_side_backward(int speed) {
  analogWrite(IN1, 0);
  analogWrite(IN2, speed * 0.92);
}

void right_side_backward(int speed) {
  analogWrite(IN3, 0);
  analogWrite(IN4, speed);
}

float checkdistance_A1_A2() {
  digitalWrite(A1, LOW);
  delayMicroseconds(2);
  digitalWrite(A1, HIGH);
  delayMicroseconds(10);
  digitalWrite(A1, LOW);
  float distance = pulseIn(A2, HIGH) / 58.00;
  delay(10);
  return distance;
}

void forward(int speed) {
  left_side_forward(speed);
  right_side_forward(speed);
}

void backward(int speed) {
  left_side_backward(speed);
  right_side_backward(speed);
}

void left(int speed, int time) {
  left_side_backward(speed);
  right_side_forward(speed);
  delay(time);
  stop();
}

void right(int speed, int time) {
  left_side_forward(speed);
  right_side_backward(speed);
  delay(time);
  stop();
}

void stop() {
  left_side_forward(0);
  right_side_forward(0);
}

void setup() {
  servo_4.attach(4);
  pinMode(A1, OUTPUT);
  pinMode(A2, INPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
}

void loop() {
  servo_4.write(90);
  delay(200); // Reduce delay for better responsiveness

  float distance = checkdistance_A1_A2();
  while (distance > 15) {
    forward(150); // Increase speed for faster movement
    distance = checkdistance_A1_A2(); // Continuously update distance
  }
  stop();
  delay(100); // Reduce delay for better responsiveness

  servo_4.write(0);
  delay(200); // Reduce delay for better responsiveness
  rightDistance = checkdistance_A1_A2();

  servo_4.write(180);
  delay(200); // Reduce delay for better responsiveness
  leftDistance = checkdistance_A1_A2();

  if (rightDistance >= leftDistance) {
    right(200, 300); // Reduce rotation time for better precision
  } else {
    left(200, 300); // Reduce rotation time for better precision
  }
}

This code controls the servos connected to the Arduino UNO via the Arduino Sensor Shield v5.0. The servos are used to move the robot forward, backward, left, and right