// Pin definitions for L298N Motor Driver
const int ENA = 10; // Enable pin for Motor A
const int IN1 = 9; // Input 1 for Motor A
const int IN2 = 8; // Input 2 for Motor A
const int ENB = 5; // Enable pin for Motor B
const int IN3 = 7; // Input 1 for Motor B
const int IN4 = 6; // Input 2 for Motor B
// Pin definitions for Ultrasonic Sensor
const int TRIG_PIN = 12;
const int ECHO_PIN = 11;
// Constants
const int MOTOR_SPEED = 200; // Motor speed (0-255)
const int TURNING_SPEED = 150; // Speed while turning
const int MIN_DISTANCE = 20; // Minimum distance in cm before changing
direction
const int STOP_DISTANCE = 10; // Distance at which to stop completely
void setup() {
// Configure motor control pins
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
// Configure ultrasonic sensor pins
pinMode(TRIG_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);
Serial.begin(9600); // Initialize serial communication
}
// Function to measure distance using ultrasonic sensor
int getDistance() {
// Clear the trigger pin
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
// Send 10μs pulse
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);
// Read the echo pin, convert time to distance in cm
long duration = pulseIn(ECHO_PIN, HIGH);
return duration * 0.034 / 2;
}
// Motor control functions
void moveForward() {
analogWrite(ENA, MOTOR_SPEED);
analogWrite(ENB, MOTOR_SPEED);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
void moveBackward() {
analogWrite(ENA, MOTOR_SPEED);
analogWrite(ENB, MOTOR_SPEED);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
void turnRight() {
analogWrite(ENA, TURNING_SPEED);
analogWrite(ENB, TURNING_SPEED);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
void turnLeft() {
analogWrite(ENA, TURNING_SPEED);
analogWrite(ENB, TURNING_SPEED);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
void stopMotors() {
analogWrite(ENA, 0);
analogWrite(ENB, 0);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
void loop() {
int distance = getDistance();
Serial.print("Distance: ");
Serial.println(distance);
if (distance <= STOP_DISTANCE) {
// Too close to obstacle - stop
stopMotors();
delay(500);
moveBackward();
delay(1000);
turnRight();
delay(800);
}
else if (distance <= MIN_DISTANCE) {
// Approaching obstacle - turn to avoid
if (random(2) == 0) { // Randomly choose left or right
turnLeft();
} else {
turnRight();
}
delay(500);
}
else {
// Clear path ahead - move forward
moveForward();
}
delay(100); // Small delay to stabilize readings
}
