Obstacle avoiding robot using arduino

 

CODE:-  

int motorspeedpin1=5;

int motorspeedpin2=9;

int dirt1=2;

int dirt2=3;

int dirt3=7;

int dirt4=8;

int myspeed=255;

int wait=100;

int trigpin=12;

int echopin=11;

int traveltime;

int targetdistance;

void setup() {

  // put your setup code here, to run once:

pinMode(motorspeedpin1,OUTPUT);

pinMode(dirt1,OUTPUT);

pinMode(dirt2,OUTPUT);

pinMode(motorspeedpin2,OUTPUT);

pinMode(dirt3,OUTPUT);

pinMode(dirt4,OUTPUT);

pinMode(trigpin,OUTPUT);

pinMode(echopin,INPUT);

Serial.begin(9600);

}

void loop() {

  // put your main code here, to run repeatedly:

digitalWrite(trigpin,LOW);

delayMicroseconds(10);

digitalWrite(trigpin,HIGH);

delayMicroseconds(10);

digitalWrite(trigpin,LOW);

delayMicroseconds(25);

traveltime=pulseIn(echopin,HIGH);

targetdistance=(traveltime*0.034)/2;

Serial.println(targetdistance);

if (targetdistance>9) {

digitalWrite(dirt1,HIGH); 

digitalWrite(dirt2,LOW);

analogWrite(motorspeedpin1,myspeed);

digitalWrite(dirt3,HIGH);

digitalWrite(dirt4,LOW);

analogWrite(motorspeedpin2,myspeed);

}

if (targetdistance<10) {

digitalWrite(dirt1,LOW);

digitalWrite(dirt2,LOW);

digitalWrite(dirt3,LOW);

digitalWrite(dirt4,LOW);

delay(200);

digitalWrite(dirt1,LOW);

digitalWrite(dirt2,HIGH);

analogWrite(motorspeedpin1,myspeed);

digitalWrite(dirt3,LOW);

digitalWrite(dirt4,HIGH);

analogWrite(motorspeedpin2,myspeed);

delay(500);

digitalWrite(dirt1,HIGH); 

digitalWrite(dirt2,LOW);

analogWrite(motorspeedpin1,myspeed);

digitalWrite(dirt3,LOW);

digitalWrite(dirt4,LOW); 

delay(500);

}

}