Arduino Robot Avoid Obstacles

Materials


- nr. 2 micro servi - rotation 360°

- nr. 1 sensor HC-SR04

- nr. 1 Arduino Uno

- nr. 1 Battery 9 volt

Arduino Code:


"#include"

const int triggerPort = 11;
const int echoPort = 12;

Servo servoLeft;
Servo servoRight;

void setup(){
pinMode(triggerPort, OUTPUT);
pinMode(echoPort, INPUT);

servoLeft.attach(9);
servoLeft.write(90);

servoRight.attach(10);
servoRight.write(90);

Serial.begin(9600);
}

void loop(){

long distance = CalculateDistance();

if (distance < 15) {
Stop();

ChooseDirection();

Stop();
}
else {
Go();
}

//delay(1000);
}

long CalculateDistance(){
Serial.println("CalculateDistance");
digitalWrite( triggerPort, LOW );
digitalWrite( triggerPort, HIGH );
delayMicroseconds(10);
digitalWrite( triggerPort, LOW );

long time = pulseIn( echoPort, HIGH );
long distance = 0.034 * time / 2;

return distance;
}

voi