Done…
Though, the work was done much earlier, I am sharing my code with this stuff.
The issue with arduino board is the battery power supply. It’s hard to get a proper portable power supply for arduino+motor shield
Here’s the code below:
#include <AFMotor.h>
#include <Servo.h>
#define MIN_DISTANCE 50
#define RADIUS 4.5
#define PIE 3.14
//The speed of the vehicle is calculated by doing practical. Setting the speed value of motor as 255 for both motors, and running for 10 seconds.
//The distance covered in this case comes out to be 150 cm. So, speed is 15cm/sec.
#define SPEED 15
////////////////////GLOBAL VARIABLES - START////////////////
AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
Servo myservo;
int pos = 0;
int IRpin = 0;
int distance;
int maxDistance;
int turningDirection;
uint8_t maxDistAngle;
uint8_t turningTime;
enum{
LEFT=-1,
BACKSIDE,
RIGHT
};
////////////////////GLOBAL VARIABLES - END/////////////////
int readDistance(){
Serial.println(FUNCTION);
return (6762/(analogRead(IRpin)-9))-4;
}
void runmotor(int dire){
Serial.print("[");
Serial.print(TIME);
Serial.print("]");
Serial.print(FUNCTION);
Serial.print(": ");
Serial.println(dire);
motor1.run(dire);
motor2.run(dire);
}
void turning(int directionRight, int directionLeft, int turningTime){
Serial.println(FUNCTION);
motor1.run(directionRight);
motor2.run(directionLeft);
delay(turningTime1000);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
int readMaxDistance(){
Serial.println(FUNCTION);
myservo.write(0);
int dist,maxDist;
for(int pos = 0; pos<=180; pos++){
myservo.write(pos);
dist = readDistance();
if(dist>maxDist){
maxDist = dist;
maxDistAngle = pos;
}
delay(50);
}
return maxDist;
}
int calculateTurningTime(){
Serial.println(FUNCTION);
//arcLength = (2PIERADIUSmaxDistAngle)/360
//To fasten the process, let’s put the pre-calculated constants’ value
//So, 2PIERADIUS/360 comes out to be 0.55
int arcLength = 0.55maxDistAngle;
//Now, time = distance/velocity
int turningTime = arcLength/15;
return turningTime;
}
int setTurningDirection(){
Serial.println(FUNCTION);
if(maxDistAngle>90)
return LEFT;
else if(maxDistAngle<90)
return RIGHT;
else if(maxDistAngle == 90)
return BACKSIDE;
else{
Serial.println(“Something wrong. Shouldn’t this statement gets printed”);
return -3;
}
}
void findPath(){
runmotor(RELEASE);
delay(1000);
maxDistance = readMaxDistance();
Serial.print("maxDistance ");
Serial.println(maxDistance);
delay(1000);
turningTime = calculateTurningTime();
Serial.print("turningTime ");
Serial.println(turningTime);
delay(1000);
turningDirection = setTurningDirection();
Serial.print("turningDirection ");
Serial.println(turningDirection);
delay(1000);
if(RIGHT == turningDirection)
turning(FORWARD, BACKWARD,turningTime);
else if(LEFT == turningDirection)
turning(BACKWARD, FORWARD, turningTime);
else if(BACKSIDE == turningDirection){
runmotor(BACKWARD);
delay(turningTime1000);
runmotor(RELEASE);
}
else
Serial.println(“No cases matched for direction. Something wrong”);
myservo.write(90);
delay(1000);
}
//////////////////////////////MAIN FUNCTIONS/////////////////////////////////////
void setup(){
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println(FUNCTION);
myservo.attach(9);
// turn on motor
motor1.setSpeed(255);
motor2.setSpeed(255);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void loop() {
Serial.println(FUNCTION);
distance = readDistance();
Serial.print("Distance: ");
Serial.println(distance);
delay(1000);
if(distance<MIN_DISTANCE)
findPath();
runmotor(FORWARD);
}
//////////////////////////////MAIN FUNCTIONS/////////////////////////////////////
