Bluetooth Controlled Obstacle Avoidance Robot

This project uses mobile phone to communicate with a robot via bluetooth. It also senses obstacles and stops to avoid collision.

May 1, 2020

•

39036 views

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17 respects

home automation

internet of things

robots

Components and supplies

Ultrasonic Sensor - HC-SR04 (Generic)

Male/Female Jumper Wires

DC Motor, 12 V

Dual H-Bridge motor drivers L298

Resistor 330 ohm

Arduino Nano R3

SparkFun Breadboard Power Supply Stick 5V/3.3V

SparkFun Logic Level Converter - Bi-Directional

RGB Diffused Common Anode

HC-05 Bluetooth Module

Breadboard (generic)

Apps and platforms

Arduino BlueControl

Arduino IDE

Project description

Code

Bluetooth Controlled Robot_Arduino Code.

c_cpp

1/* Bluetooth Controlled Obstacle Avoidance Robot
2   Prepared by : Alok  Talukdar
3   Date        : 09.05.2020
4*/
5
6#include<SoftwareSerial.h>  // To use any pin on Arduino for Serial communication.
7
8// Define the digital  pins for L298 motor control module.
9
10#define IN1 5    // for right motor
11#define  IN2 4    // for right motor
12#define IN3 3    // for left motor
13#define IN4  2    // for left motor
14#define ENA 9    // Enable A for PWM control of right  motor
15#define ENB 10    // Enable B for PWM control of left motor
16
17// Define  the digital pins for RGB LED control
18
19#define redLED   8
20#define greenLED  A0
21#define blueLED 11
22
23// Set up the HC-SR04 Ultrasonic sensor module
24
25const  int trigPin = 6;      // TRIG pin connected to pin D6 of Arduino Nano
26const int  echoPin = 7;      // ECHO pin connected to pin D7 of Arduino Nano
27
28int i,j,k  = 0;
29
30float duration,distance;  // variables for distance measurement
31
32//  Set up the HC05 Bluetooth module
33
34SoftwareSerial mySerial(12,13); // (12 -->  RX , 13 --> TX)
35
36String data;                    // variables for Bluetooth  control
37int btVal;
38
39void setup() {
40  // put your setup code here, to  run once:
41
42  pinMode(trigPin,OUTPUT);       // Configure pin D6 to transmit  ultrasonic pulses
43  pinMode(echoPin,INPUT);        // Configure pin D7 to receive  ultrasonic pulses
44
45  mySerial.begin(9600);          // Configure the Software  serial at Baud rate 9600
46
47  pinMode(IN1,OUTPUT);           // Configure IN1  - IN4 as OUTPUT to control motors
48  pinMode(IN2,OUTPUT);
49  pinMode(IN3,OUTPUT);
50  pinMode(IN4,OUTPUT);
51  pinMode(ENA,OUTPUT);
52  pinMode(ENB,OUTPUT);
53
54  pinMode(redLED,OUTPUT);
55  pinMode(blueLED,OUTPUT);
56  pinMode(greenLED,OUTPUT);
57
58  digitalWrite(IN1,LOW);         // Configure the status of the IN1 - IN4 as LOW
59  digitalWrite(IN2,LOW);
60  digitalWrite(IN3,LOW);
61  digitalWrite(IN4,LOW);
62
63
64  analogWrite(redLED,255);    // Switch OFF LED's. RGB LED is common anode type.
65  digitalWrite(blueLED,HIGH);
66  digitalWrite(greenLED,HIGH);
67}
68
69void  loop()
70{
71  // put your main code here, to run repeatedly:
72
73  while (mySerial.available())
74  {
75     data = mySerial.readStringUntil('\n');
76  }
77
78     btVal = (data.toInt());
79
80     switch (btVal) 
81   {
82      case 1:                                
83        
84        forward();
85        digitalWrite(greenLED,LOW);
86        analogWrite(redLED,255);
87        digitalWrite(blueLED,HIGH);
88        dist();
89        break;
90
91      case 2:                 
92       
93        reverse();
94        digitalWrite(greenLED,HIGH);
95        analogWrite(redLED,255);
96        digitalWrite(blueLED,LOW);
97        break;
98
99      case 3:         
100       
101        left();
102        break;
103        
104      case 4:                     
105        
106        right();
107        break;
108        
109      case 5:                                            
110        
111        stoprobot();
112        digitalWrite(greenLED,HIGH);
113        analogWrite(redLED,0);
114        digitalWrite(blueLED,HIGH);
115        break;
116
117      default:
118        digitalWrite(greenLED,HIGH);
119        analogWrite(redLED,255);
120        digitalWrite(blueLED,HIGH);
121        break;
122
123             
124    }
125
126        if (mySerial.available()  < 0)                              
127    {
128     //Serial.println("No Bluetooth  Data ");          
129    }
130}
131     // motor control function declarations
132
133     
134
135     void forward()
136     {
137       for(i=0;i<=100;i++)
138       {
139       analogWrite(ENA,i);
140       analogWrite(ENB,i);
141       digitalWrite(IN1,HIGH);
142       digitalWrite(IN2,LOW);
143       digitalWrite(IN3,LOW);
144       digitalWrite(IN4,HIGH);
145       }
146     }
147
148     void reverse()
149     {
150       for(j=0;j<=100;j++)
151       {
152       analogWrite(ENA,j);
153       analogWrite(ENB,j);
154       digitalWrite(IN1,LOW);
155       digitalWrite(IN2,HIGH);
156       digitalWrite(IN3,HIGH);
157       digitalWrite(IN4,LOW);
158       }
159     }
160
161     void left()
162     {
163       analogWrite(ENA,127);
164       analogWrite(ENB,0);
165       digitalWrite(IN1,HIGH);
166       digitalWrite(IN2,LOW);
167       digitalWrite(IN3,HIGH);
168       digitalWrite(IN4,HIGH);
169     }
170
171     void right()
172     {
173       analogWrite(ENA,0);
174       analogWrite(ENB,127);
175       digitalWrite(IN1,HIGH);
176       digitalWrite(IN2,HIGH);
177       digitalWrite(IN3,LOW);
178       digitalWrite(IN4,HIGH);
179     }
180
181     void stoprobot()
182     {
183       analogWrite(ENA,0);
184       analogWrite(ENB,0);
185       digitalWrite(IN1,LOW);
186       digitalWrite(IN2,LOW);
187       digitalWrite(IN3,LOW);
188       digitalWrite(IN4,LOW);
189     }
190      void dist()
191     {
192       digitalWrite(trigPin,LOW);          //  to send a pulse via the TRIG pin of HC-SR04
193       delayMicroseconds(2);
194       digitalWrite(trigPin,HIGH);
195       delayMicroseconds(10);
196       digitalWrite(trigPin,LOW);
197
198       duration = pulseIn(echoPin,HIGH);   // read the duration of the pulse
199
200       distance = (duration*0.0343)/2;     // measure the distance in cms. Speed  of sound is 340 m/s or 0.0343 cm/us
201       if(distance<20)                     //  if distance is < 20 cms , STOP robot 
202       {
203        stoprobot();
204        digitalWrite(greenLED,HIGH);
205        analogWrite(redLED,0);
206        digitalWrite(blueLED,HIGH);
207       }
208        delay(1000);
209
210     }
211    
212

/* Bluetooth Controlled Obstacle Avoidance Robot
   Prepared by : Alok  Talukdar
   Date        : 09.05.2020
*/

#include<SoftwareSerial.h>  // To use any pin on Arduino for Serial communication.

// Define the digital  pins for L298 motor control module.

#define IN1 5    // for right motor
#define  IN2 4    // for right motor
#define IN3 3    // for left motor
#define IN4  2    // for left motor
#define ENA 9    // Enable A for PWM control of right  motor
#define ENB 10    // Enable B for PWM control of left motor

// Define  the digital pins for RGB LED control

#define redLED   8
#define greenLED  A0
#define blueLED 11

// Set up the HC-SR04 Ultrasonic sensor module

const  int trigPin = 6;      // TRIG pin connected to pin D6 of Arduino Nano
const int  echoPin = 7;      // ECHO pin connected to pin D7 of Arduino Nano

int i,j,k  = 0;

float duration,distance;  // variables for distance measurement

//  Set up the HC05 Bluetooth module

SoftwareSerial mySerial(12,13); // (12 -->  RX , 13 --> TX)

String data;                    // variables for Bluetooth  control
int btVal;

void setup() {
  // put your setup code here, to  run once:

  pinMode(trigPin,OUTPUT);       // Configure pin D6 to transmit  ultrasonic pulses
  pinMode(echoPin,INPUT);        // Configure pin D7 to receive  ultrasonic pulses

  mySerial.begin(9600);          // Configure the Software  serial at Baud rate 9600

  pinMode(IN1,OUTPUT);           // Configure IN1  - IN4 as OUTPUT to control motors
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);
  pinMode(ENA,OUTPUT);
  pinMode(ENB,OUTPUT);

  pinMode(redLED,OUTPUT);
  pinMode(blueLED,OUTPUT);
  pinMode(greenLED,OUTPUT);

  digitalWrite(IN1,LOW);         // Configure the status of the IN1 - IN4 as LOW
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,LOW);


  analogWrite(redLED,255);    // Switch OFF LED's. RGB LED is common anode type.
  digitalWrite(blueLED,HIGH);
  digitalWrite(greenLED,HIGH);
}

void  loop()
{
  // put your main code here, to run repeatedly:

  while (mySerial.available())
  {
     data = mySerial.readStringUntil('\n');
  }

     btVal = (data.toInt());

     switch (btVal) 
   {
      case 1:                                
        
        forward();
        digitalWrite(greenLED,LOW);
        analogWrite(redLED,255);
        digitalWrite(blueLED,HIGH);
        dist();
        break;

      case 2:                 
       
        reverse();
        digitalWrite(greenLED,HIGH);
        analogWrite(redLED,255);
        digitalWrite(blueLED,LOW);
        break;

      case 3:         
       
        left();
        break;
        
      case 4:                     
        
        right();
        break;
        
      case 5:                                            
        
        stoprobot();
        digitalWrite(greenLED,HIGH);
        analogWrite(redLED,0);
        digitalWrite(blueLED,HIGH);
        break;

      default:
        digitalWrite(greenLED,HIGH);
        analogWrite(redLED,255);
        digitalWrite(blueLED,HIGH);
        break;

             
    }

        if (mySerial.available()  < 0)                              
    {
     //Serial.println("No Bluetooth  Data ");          
    }
}
     // motor control function declarations

     

     void forward()
     {
       for(i=0;i<=100;i++)
       {
       analogWrite(ENA,i);
       analogWrite(ENB,i);
       digitalWrite(IN1,HIGH);
       digitalWrite(IN2,LOW);
       digitalWrite(IN3,LOW);
       digitalWrite(IN4,HIGH);
       }
     }

     void reverse()
     {
       for(j=0;j<=100;j++)
       {
       analogWrite(ENA,j);
       analogWrite(ENB,j);
       digitalWrite(IN1,LOW);
       digitalWrite(IN2,HIGH);
       digitalWrite(IN3,HIGH);
       digitalWrite(IN4,LOW);
       }
     }

     void left()
     {
       analogWrite(ENA,127);
       analogWrite(ENB,0);
       digitalWrite(IN1,HIGH);
       digitalWrite(IN2,LOW);
       digitalWrite(IN3,HIGH);
       digitalWrite(IN4,HIGH);
     }

     void right()
     {
       analogWrite(ENA,0);
       analogWrite(ENB,127);
       digitalWrite(IN1,HIGH);
       digitalWrite(IN2,HIGH);
       digitalWrite(IN3,LOW);
       digitalWrite(IN4,HIGH);
     }

     void stoprobot()
     {
       analogWrite(ENA,0);
       analogWrite(ENB,0);
       digitalWrite(IN1,LOW);
       digitalWrite(IN2,LOW);
       digitalWrite(IN3,LOW);
       digitalWrite(IN4,LOW);
     }
      void dist()
     {
       digitalWrite(trigPin,LOW);          //  to send a pulse via the TRIG pin of HC-SR04
       delayMicroseconds(2);
       digitalWrite(trigPin,HIGH);
       delayMicroseconds(10);
       digitalWrite(trigPin,LOW);

       duration = pulseIn(echoPin,HIGH);   // read the duration of the pulse

       distance = (duration*0.0343)/2;     // measure the distance in cms. Speed  of sound is 340 m/s or 0.0343 cm/us
       if(distance<20)                     //  if distance is < 20 cms , STOP robot 
       {
        stoprobot();
        digitalWrite(greenLED,HIGH);
        analogWrite(redLED,0);
        digitalWrite(blueLED,HIGH);
       }
        delay(1000);

     }

Bluetooth Controlled Robot_Arduino Code.

c_cpp

1/* Bluetooth Controlled Obstacle Avoidance Robot
2   Prepared by : Alok
3  Talukdar
4   Date        : 09.05.2020
5*/
6
7#include<SoftwareSerial.h>
8  // To use any pin on Arduino for Serial communication.
9
10// Define the digital
11  pins for L298 motor control module.
12
13#define IN1 5    // for right motor
14#define
15  IN2 4    // for right motor
16#define IN3 3    // for left motor
17#define IN4
18  2    // for left motor
19#define ENA 9    // Enable A for PWM control of right
20  motor
21#define ENB 10    // Enable B for PWM control of left motor
22
23// Define
24  the digital pins for RGB LED control
25
26#define redLED   8
27#define greenLED
28  A0
29#define blueLED 11
30
31// Set up the HC-SR04 Ultrasonic sensor module
32
33const
34  int trigPin = 6;      // TRIG pin connected to pin D6 of Arduino Nano
35const int
36  echoPin = 7;      // ECHO pin connected to pin D7 of Arduino Nano
37
38int i,j,k
39  = 0;
40
41float duration,distance;  // variables for distance measurement
42
43//
44  Set up the HC05 Bluetooth module
45
46SoftwareSerial mySerial(12,13); // (12 -->
47  RX , 13 --> TX)
48
49String data;                    // variables for Bluetooth
50  control
51int btVal;
52
53void setup() {
54  // put your setup code here, to
55  run once:
56
57  pinMode(trigPin,OUTPUT);       // Configure pin D6 to transmit
58  ultrasonic pulses
59  pinMode(echoPin,INPUT);        // Configure pin D7 to receive
60  ultrasonic pulses
61
62  mySerial.begin(9600);          // Configure the Software
63  serial at Baud rate 9600
64
65  pinMode(IN1,OUTPUT);           // Configure IN1
66  - IN4 as OUTPUT to control motors
67  pinMode(IN2,OUTPUT);
68  pinMode(IN3,OUTPUT);
69
70  pinMode(IN4,OUTPUT);
71  pinMode(ENA,OUTPUT);
72  pinMode(ENB,OUTPUT);
73
74
75  pinMode(redLED,OUTPUT);
76  pinMode(blueLED,OUTPUT);
77  pinMode(greenLED,OUTPUT);
78
79
80  digitalWrite(IN1,LOW);         // Configure the status of the IN1 - IN4 as LOW
81
82  digitalWrite(IN2,LOW);
83  digitalWrite(IN3,LOW);
84  digitalWrite(IN4,LOW);
85
86
87
88  analogWrite(redLED,255);    // Switch OFF LED's. RGB LED is common anode type.
89
90  digitalWrite(blueLED,HIGH);
91  digitalWrite(greenLED,HIGH);
92}
93
94void
95  loop()
96{
97  // put your main code here, to run repeatedly:
98
99  while (mySerial.available())
100
101  {
102     data = mySerial.readStringUntil('\
103');
104  }
105
106     btVal = (data.toInt());
107
108
109     switch (btVal) 
110   {
111      case 1:                                
112
113        
114        forward();
115        digitalWrite(greenLED,LOW);
116        analogWrite(redLED,255);
117
118        digitalWrite(blueLED,HIGH);
119        dist();
120        break;
121
122
123      case 2:                 
124       
125        reverse();
126        digitalWrite(greenLED,HIGH);
127
128        analogWrite(redLED,255);
129        digitalWrite(blueLED,LOW);
130        break;
131
132
133      case 3:         
134       
135        left();
136        break;
137        
138
139      case 4:                     
140        
141        right();
142        break;
143
144        
145      case 5:                                            
146        
147
148        stoprobot();
149        digitalWrite(greenLED,HIGH);
150        analogWrite(redLED,0);
151
152        digitalWrite(blueLED,HIGH);
153        break;
154
155      default:
156
157        digitalWrite(greenLED,HIGH);
158        analogWrite(redLED,255);
159        digitalWrite(blueLED,HIGH);
160
161        break;
162
163             
164    }
165
166        if (mySerial.available()
167  < 0)                              
168    {
169     //Serial.println("No Bluetooth
170  Data ");          
171    }
172}
173     // motor control function declarations
174
175
176     
177
178     void forward()
179     {
180       for(i=0;i<=100;i++)
181       {
182
183       analogWrite(ENA,i);
184       analogWrite(ENB,i);
185       digitalWrite(IN1,HIGH);
186
187       digitalWrite(IN2,LOW);
188       digitalWrite(IN3,LOW);
189       digitalWrite(IN4,HIGH);
190
191       }
192     }
193
194     void reverse()
195     {
196       for(j=0;j<=100;j++)
197
198       {
199       analogWrite(ENA,j);
200       analogWrite(ENB,j);
201       digitalWrite(IN1,LOW);
202
203       digitalWrite(IN2,HIGH);
204       digitalWrite(IN3,HIGH);
205       digitalWrite(IN4,LOW);
206
207       }
208     }
209
210     void left()
211     {
212       analogWrite(ENA,127);
213
214       analogWrite(ENB,0);
215       digitalWrite(IN1,HIGH);
216       digitalWrite(IN2,LOW);
217
218       digitalWrite(IN3,HIGH);
219       digitalWrite(IN4,HIGH);
220     }
221
222
223     void right()
224     {
225       analogWrite(ENA,0);
226       analogWrite(ENB,127);
227
228       digitalWrite(IN1,HIGH);
229       digitalWrite(IN2,HIGH);
230       digitalWrite(IN3,LOW);
231
232       digitalWrite(IN4,HIGH);
233     }
234
235     void stoprobot()
236     {
237
238       analogWrite(ENA,0);
239       analogWrite(ENB,0);
240       digitalWrite(IN1,LOW);
241
242       digitalWrite(IN2,LOW);
243       digitalWrite(IN3,LOW);
244       digitalWrite(IN4,LOW);
245
246     }
247      void dist()
248     {
249       digitalWrite(trigPin,LOW);          //
250  to send a pulse via the TRIG pin of HC-SR04
251       delayMicroseconds(2);
252
253       digitalWrite(trigPin,HIGH);
254       delayMicroseconds(10);
255       digitalWrite(trigPin,LOW);
256
257
258       duration = pulseIn(echoPin,HIGH);   // read the duration of the pulse
259
260
261       distance = (duration*0.0343)/2;     // measure the distance in cms. Speed
262  of sound is 340 m/s or 0.0343 cm/us
263       if(distance<20)                     //
264  if distance is < 20 cms , STOP robot 
265       {
266        stoprobot();
267        digitalWrite(greenLED,HIGH);
268
269        analogWrite(redLED,0);
270        digitalWrite(blueLED,HIGH);
271       }
272
273        delay(1000);
274
275     }
276    
277

/* Bluetooth Controlled Obstacle Avoidance Robot
   Prepared by : Alok
  Talukdar
   Date        : 09.05.2020
*/

#include<SoftwareSerial.h>
  // To use any pin on Arduino for Serial communication.

// Define the digital
  pins for L298 motor control module.

#define IN1 5    // for right motor
#define
  IN2 4    // for right motor
#define IN3 3    // for left motor
#define IN4
  2    // for left motor
#define ENA 9    // Enable A for PWM control of right
  motor
#define ENB 10    // Enable B for PWM control of left motor

// Define
  the digital pins for RGB LED control

#define redLED   8
#define greenLED
  A0
#define blueLED 11

// Set up the HC-SR04 Ultrasonic sensor module

const
  int trigPin = 6;      // TRIG pin connected to pin D6 of Arduino Nano
const int
  echoPin = 7;      // ECHO pin connected to pin D7 of Arduino Nano

int i,j,k
  = 0;

float duration,distance;  // variables for distance measurement

//
  Set up the HC05 Bluetooth module

SoftwareSerial mySerial(12,13); // (12 -->
  RX , 13 --> TX)

String data;                    // variables for Bluetooth
  control
int btVal;

void setup() {
  // put your setup code here, to
  run once:

  pinMode(trigPin,OUTPUT);       // Configure pin D6 to transmit
  ultrasonic pulses
  pinMode(echoPin,INPUT);        // Configure pin D7 to receive
  ultrasonic pulses

  mySerial.begin(9600);          // Configure the Software
  serial at Baud rate 9600

  pinMode(IN1,OUTPUT);           // Configure IN1
  - IN4 as OUTPUT to control motors
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);

  pinMode(IN4,OUTPUT);
  pinMode(ENA,OUTPUT);
  pinMode(ENB,OUTPUT);


  pinMode(redLED,OUTPUT);
  pinMode(blueLED,OUTPUT);
  pinMode(greenLED,OUTPUT);


  digitalWrite(IN1,LOW);         // Configure the status of the IN1 - IN4 as LOW

  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,LOW);



  analogWrite(redLED,255);    // Switch OFF LED's. RGB LED is common anode type.

  digitalWrite(blueLED,HIGH);
  digitalWrite(greenLED,HIGH);
}

void
  loop()
{
  // put your main code here, to run repeatedly:

  while (mySerial.available())

  {
     data = mySerial.readStringUntil('\
');
  }

     btVal = (data.toInt());


     switch (btVal) 
   {
      case 1:                                

        
        forward();
        digitalWrite(greenLED,LOW);
        analogWrite(redLED,255);

        digitalWrite(blueLED,HIGH);
        dist();
        break;


      case 2:                 
       
        reverse();
        digitalWrite(greenLED,HIGH);

        analogWrite(redLED,255);
        digitalWrite(blueLED,LOW);
        break;


      case 3:         
       
        left();
        break;
        

      case 4:                     
        
        right();
        break;

        
      case 5:                                            
        

        stoprobot();
        digitalWrite(greenLED,HIGH);
        analogWrite(redLED,0);

        digitalWrite(blueLED,HIGH);
        break;

      default:

        digitalWrite(greenLED,HIGH);
        analogWrite(redLED,255);
        digitalWrite(blueLED,HIGH);

        break;

             
    }

        if (mySerial.available()
  < 0)                              
    {
     //Serial.println("No Bluetooth
  Data ");          
    }
}
     // motor control function declarations


     

     void forward()
     {
       for(i=0;i<=100;i++)
       {

       analogWrite(ENA,i);
       analogWrite(ENB,i);
       digitalWrite(IN1,HIGH);

       digitalWrite(IN2,LOW);
       digitalWrite(IN3,LOW);
       digitalWrite(IN4,HIGH);

       }
     }

     void reverse()
     {
       for(j=0;j<=100;j++)

       {
       analogWrite(ENA,j);
       analogWrite(ENB,j);
       digitalWrite(IN1,LOW);

       digitalWrite(IN2,HIGH);
       digitalWrite(IN3,HIGH);
       digitalWrite(IN4,LOW);

       }
     }

     void left()
     {
       analogWrite(ENA,127);

       analogWrite(ENB,0);
       digitalWrite(IN1,HIGH);
       digitalWrite(IN2,LOW);

       digitalWrite(IN3,HIGH);
       digitalWrite(IN4,HIGH);
     }


     void right()
     {
       analogWrite(ENA,0);
       analogWrite(ENB,127);

       digitalWrite(IN1,HIGH);
       digitalWrite(IN2,HIGH);
       digitalWrite(IN3,LOW);

       digitalWrite(IN4,HIGH);
     }

     void stoprobot()
     {

       analogWrite(ENA,0);
       analogWrite(ENB,0);
       digitalWrite(IN1,LOW);

       digitalWrite(IN2,LOW);
       digitalWrite(IN3,LOW);
       digitalWrite(IN4,LOW);

     }
      void dist()
     {
       digitalWrite(trigPin,LOW);          //
  to send a pulse via the TRIG pin of HC-SR04
       delayMicroseconds(2);

       digitalWrite(trigPin,HIGH);
       delayMicroseconds(10);
       digitalWrite(trigPin,LOW);


       duration = pulseIn(echoPin,HIGH);   // read the duration of the pulse


       distance = (duration*0.0343)/2;     // measure the distance in cms. Speed
  of sound is 340 m/s or 0.0343 cm/us
       if(distance<20)                     //
  if distance is < 20 cms , STOP robot 
       {
        stoprobot();
        digitalWrite(greenLED,HIGH);

        analogWrite(redLED,0);
        digitalWrite(blueLED,HIGH);
       }

        delay(1000);

     }

Downloadable files

Circuit Diagram.

Circuit diagram of the robot.

Circuit Diagram.

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