Code-:
//Arduino Human Following Robot
// Created By Anubhav Projects LAb
// You have to install the AFMotor and NewPing library Before Uploading the sketch
// You can find all the required libraris from arduino library manager.
// Contact me on instagram for any query(Insta Id : anubhav_projectslab)
//include the library code:
#include<NewPing.h>
#include<Servo.h>
#include<AFMotor.h>
#define RIGHT A2 // Right IR sensor connected to analog pin A2 of Arduino Uno:
#define LEFT A3 // Left IR sensor connected to analog pin A3 of Arduino Uno:
#define TRIGGER_PIN A1 // Trigger pin connected to analog pin A1 of Arduino Uno:
#define ECHO_PIN A0 // Echo pin connected to analog pin A0 of Arduino Uno:
#define MAX_DISTANCE 200 // Maximum ping distance:
unsigned int distance = 0; //Variable to store ultrasonic sensor distance:
unsigned int Right_Value = 0; //Variable to store Right IR sensor value:
unsigned int Left_Value = 0; //Variable to store Left IR sensor value:
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); //NewPing setup of pins and maximum distance:
//create motor objects
AF_DCMotor Motor1(1,MOTOR12_1KHZ);
AF_DCMotor Motor2(2,MOTOR12_1KHZ);
AF_DCMotor Motor3(3,MOTOR34_1KHZ);
AF_DCMotor Motor4(4,MOTOR34_1KHZ);
Servo myservo; //create servo object to control the servo:
int pos=0; //variable to store the servo position:
void setup() { // the setup function runs only once when power on the board or reset the board:
Serial.begin(9600); //initailize serial communication at 9600 bits per second:
myservo.attach(10); // servo attached to pin 10 of Arduino UNO
{
for(pos = 90; pos <= 180; pos += 1){ // goes from 90 degrees to 180 degrees:
myservo.write(pos); //tell servo to move according to the value of 'pos' variable:
delay(15); //wait 15ms for the servo to reach the position:
}
for(pos = 180; pos >= 0; pos-= 1) { // goes from 180 degrees to 0 degrees:
myservo.write(pos); //tell servo to move according to the value of 'pos' variable:
delay(15); //wait 15ms for the servo to reach the position:
}
for(pos = 0; pos<=90; pos += 1) { //goes from 180 degrees to 0 degrees:
myservo.write(pos); //tell servo to move according to the value of 'pos' variable:
delay(15); //wait 15ms for the servo to reach the position:
}
}
pinMode(RIGHT, INPUT); //set analog pin RIGHT as an input:
pinMode(LEFT, INPUT); //set analog pin RIGHT as an input:
}
// the lope function runs forever
void loop() {
delay(50); //wait 50ms between pings:
distance = sonar.ping_cm(); //send ping, get distance in cm and store it in 'distance' variable:
Serial.print("distance");
Serial.println(distance); // print the distance in serial monitor:
Right_Value = digitalRead(RIGHT); // read the value from Right IR sensor:
Left_Value = digitalRead(LEFT); // read the value from Left IR sensor:
Serial.print("RIGHT");
Serial.println(Right_Value); // print the right IR sensor value in serial monitor:
Serial.print("LEFT");
Serial.println(Left_Value); //print the left IR sensor value in serial monitor:
if((distance > 1) && (distance < 15)){ //check wheather the ultrasonic sensor's value stays between 1 to 15.
//If the condition is 'true' then the statement below will execute:
//Move Forward:
Motor1.setSpeed(130); //define motor1 speed:
Motor1.run(FORWARD); //rotate motor1 clockwise:
Motor2.setSpeed(130); //define motor2 speed:
Motor2.run(FORWARD); //rotate motor2 clockwise:
Motor3.setSpeed(130); //define motor3 speed:
Motor3.run(FORWARD); //rotate motor3 clockwise:
Motor4.setSpeed(130); //define motor4 speed:
Motor4.run(FORWARD); //rotate motor4 clockwise:
}else if((Right_Value==0) && (Left_Value==1)) { //If the condition is 'true' then the statement below will execute:
//Turn Left
Motor1.setSpeed(150); //define motor1 speed:
Motor1.run(FORWARD); //rotate motor1 cloclwise:
Motor2.setSpeed(150); //define motor2 speed:
Motor2.run(FORWARD); //rotate motor2 clockwise:
Motor3.setSpeed(150); //define motor3 speed:
Motor3.run(BACKWARD); //rotate motor3 anticlockwise:
Motor4.setSpeed(150); //define motor4 speed:
Motor4.run(BACKWARD); //rotate motor4 anticlockwise:
delay(150);
}else if((Right_Value==1)&&(Left_Value==0)) { //If the condition is 'true' then the statement below will execute:
//Turn Right
Motor1.setSpeed(150); //define motor1 speed:
Motor1.run(BACKWARD); //rotate motor1 anticlockwise:
Motor2.setSpeed(150); //define motor2 speed:
Motor2.run(BACKWARD); //rotate motor2 anticlockwise:
Motor3.setSpeed(150); //define motor3 speed:
Motor3.run(FORWARD); //rotate motor3 clockwise:
Motor4.setSpeed(150); //define motor4 speed:
Motor4.run(FORWARD); //rotate motor4 clockwise:
delay(150);
}else if(distance > 15) { //If the condition is 'true' then the statement below will execute:
//Stop
Motor1.setSpeed(0); //define motor1 speed:
Motor1.run(RELEASE); //stop motor1:
Motor2.setSpeed(0); //define motor2 speed:
Motor2.run(RELEASE); //stop motor2:
Motor3.setSpeed(0); //define motor3 speed:
Motor3.run(RELEASE); //stop motor3:
Motor4.setSpeed(0); //define motor4 speed:
Motor4.run(RELEASE); //stop motor4:
}
}
