Egiye jao bondhu ❤️

@SayanElectronics

Жыл бұрын

Osonkho Dhonnobad😊

Darun vai

@SayanElectronics

Жыл бұрын

Thank you😊

Sera vai❤❤🔥🔥🔥

@SayanElectronics

Жыл бұрын

ধন্যবাদ বন্ধু 😊

Darun bhai

@SayanElectronics

Жыл бұрын

Thanks vai😊

//Hello Guys, Please Subscribe(It's Free). In Case Description Code Link Expires , Here it is... // #include //add Adafruit Motor Shield library #include //add Servo Motor library #include //add Ultrasonic sensor library #define TRIG_PIN A0 // Pin A0 on the Motor Drive Shield soldered to the ultrasonic sensor #define ECHO_PIN A1 // Pin A1 on the Motor Drive Shield soldered to the ultrasonic sensor #define MAX_DISTANCE 300 // sets maximum useable sensor measuring distance to 300cm #define MAX_SPEED 160 // sets speed of DC traction motors to 150/250 or about 70% of full speed - to get power drain down. #define MAX_SPEED_OFFSET 40 // this sets offset to allow for differences between the two DC traction motors #define COLL_DIST 30 // sets distance at which robot stops and reverses to 30cm #define TURN_DIST COLL_DIST+20 // sets distance at which robot veers away from object NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); // sets up sensor library to use the correct pins to measure distance. AF_DCMotor leftMotor1(1, MOTOR12_1KHZ); // create motor #1 using M1 output on Motor Drive Shield, set to 1kHz PWM frequency AF_DCMotor leftMotor2(2, MOTOR12_1KHZ); // create motor #2, using M2 output, set to 1kHz PWM frequency AF_DCMotor rightMotor1(3, MOTOR34_1KHZ);// create motor #3, using M3 output, set to 1kHz PWM frequency AF_DCMotor rightMotor2(4, MOTOR34_1KHZ);// create motor #4, using M4 output, set to 1kHz PWM frequency Servo myservo; // create servo object to control a servo int leftDistance, rightDistance; //distances on either side int curDist = 0; String motorSet = ""; int speedSet = 0; //-------------------------------------------- SETUP LOOP ---------------------------------------------------------------------------- void setup() { myservo.attach(10); // attaches the servo on pin 10 (SERVO_1 on the Motor Drive Shield to the servo object myservo.write(90); // tells the servo to position at 90-degrees ie. facing forward. delay(1000); // delay for one seconds } //------------------------------------------------------------------------------------------------------------------------------------ //---------------------------------------------MAIN LOOP ------------------------------------------------------------------------------ void loop() { myservo.write(90); // move eyes forward delay(90); curDist = readPing(); // read distance if (curDist moveForward(); // move forward delay(500); } //------------------------------------------------------------------------------------------------------------------------------------- void changePath() { moveStop(); // stop forward movement myservo.write(36); // check distance to the right delay(500); rightDistance = readPing(); //set right distance delay(500); myservo.write(144); // check distace to the left delay(700); leftDistance = readPing(); //set left distance delay(500); myservo.write(90); //return to center delay(100); compareDistance(); } void compareDistance() // find the longest distance { if (leftDistance>rightDistance) //if left is less obstructed { turnLeft(); } else if (rightDistance>leftDistance) //if right is less obstructed { turnRight(); } else //if they are equally obstructed { turnAround(); } } //------------------------------------------------------------------------------------------------------------------------------------- int readPing() { // read the ultrasonic sensor distance delay(70); unsigned int uS = sonar.ping(); int cm = uS/US_ROUNDTRIP_CM; return cm; } //------------------------------------------------------------------------------------------------------------------------------------- void moveStop() {leftMotor1.run(RELEASE); leftMotor2.run(RELEASE); rightMotor1.run(RELEASE); rightMotor2.run(RELEASE);} // stop the motors. //------------------------------------------------------------------------------------------------------------------------------------- void moveForward() { motorSet = "FORWARD"; leftMotor1.run(FORWARD); // turn it on going forward leftMotor2.run(FORWARD); // turn it on going forward rightMotor1.run(FORWARD); // turn it on going forward rightMotor2.run(FORWARD); // turn it on going forward for (speedSet = 0; speedSet { leftMotor1.setSpeed(speedSet); leftMotor2.setSpeed(speedSet); rightMotor1.setSpeed(speedSet); rightMotor2.setSpeed(speedSet); delay(5); } } //------------------------------------------------------------------------------------------------------------------------------------- void moveBackward() { motorSet = "BACKWARD"; leftMotor1.run(BACKWARD); // turn it on going backward leftMotor2.run(BACKWARD); // turn it on going backward rightMotor1.run(BACKWARD); // turn it on going backward rightMotor2.run(BACKWARD); // turn it on going backward for (speedSet = 0; speedSet { leftMotor1.setSpeed(speedSet); leftMotor2.setSpeed(speedSet); rightMotor1.setSpeed(speedSet); rightMotor2.setSpeed(speedSet); delay(5); } } //------------------------------------------------------------------------------------------------------------------------------------- void turnRight() { motorSet = "RIGHT"; leftMotor1.run(FORWARD); // turn motor 1 forward leftMotor2.run(FORWARD); // turn motor 2 forward rightMotor1.run(BACKWARD); // turn motor 3 backward rightMotor2.run(BACKWARD); // turn motor 4 backward rightMotor1.setSpeed(speedSet+MAX_SPEED_OFFSET); rightMotor2.setSpeed(speedSet+MAX_SPEED_OFFSET); delay(1500); // run motors this way for 1500 motorSet = "FORWARD"; leftMotor1.run(FORWARD); // set both motors back to forward leftMotor2.run(FORWARD); rightMotor1.run(FORWARD); rightMotor2.run(FORWARD); } //------------------------------------------------------------------------------------------------------------------------------------- void turnLeft() { motorSet = "LEFT"; leftMotor1.run(BACKWARD); // turn motor 1 backward leftMotor2.run(BACKWARD); // turn motor 2 backward leftMotor1.setSpeed(speedSet+MAX_SPEED_OFFSET); leftMotor2.setSpeed(speedSet+MAX_SPEED_OFFSET); rightMotor1.run(FORWARD); // turn motor 3 forward rightMotor2.run(FORWARD); // turn motor 4 forward delay(1500); // run motors this way for 1500 motorSet = "FORWARD"; leftMotor1.run(FORWARD); // turn it on going forward leftMotor2.run(FORWARD); // turn it on going forward rightMotor1.run(FORWARD); // turn it on going forward rightMotor2.run(FORWARD); // turn it on going forward } //------------------------------------------------------------------------------------------------------------------------------------- void turnAround() { motorSet = "RIGHT"; leftMotor1.run(FORWARD); // turn motor 1 forward leftMotor2.run(FORWARD); // turn motor 2 forward rightMotor1.run(BACKWARD); // turn motor 3 backward rightMotor2.run(BACKWARD); // turn motor 4 backward rightMotor1.setSpeed(speedSet+MAX_SPEED_OFFSET); rightMotor2.setSpeed(speedSet+MAX_SPEED_OFFSET); delay(1700); // run motors this way for 1700 motorSet = "FORWARD"; leftMotor1.run(FORWARD); // set both motors back to forward leftMotor2.run(FORWARD); rightMotor1.run(FORWARD); rightMotor2.run(FORWARD); }