Human Following Bot

Object following robot

Jun 20, 2020

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94052 views

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25 respects

embedded

cars

robots

Components and supplies

Jumper wires (generic)

Rocker Switch, SPST

Adafruit Motor shield

Maker Essentials - Micro-motors & Grippy Wheels

DC Motor, 12 V

IR Transceiver (Generic)

Ultrasonic Sensor - HC-SR04 (Generic)

SG90 Micro-servo motor

Arduino UNO

9V battery (generic)

Apps and platforms

Arduino IDE

Project description

Code

arduino

1// www.YouTube.com/Electronics is Fun //
2
3#include<Servo.h>
4#include<AFMotor.h>
5#define  LEFT A0
6#define echopin A1 // echo pin
7#define trigpin A2 // Trigger pin
8#define  RIGHT A3
9
10AF_DCMotor Motor1(1,MOTOR12_1KHZ);
11AF_DCMotor Motor2(2,MOTOR12_1KHZ);
12AF_DCMotor  Motor3(3,MOTOR34_1KHZ);
13AF_DCMotor Motor4(4,MOTOR34_1KHZ);
14
15Servo myservo;
16  
17int pos =0;
18long time;
19
20void setup(){
21
22Serial.begin(9600);
23myservo.attach(10);
24
25for(pos  = 90; pos <= 180; pos += 1){
26myservo.write(pos);
27delay(15);
28}
29 
30for(pos  = 180; pos >= 0; pos-= 1) {
31myservo.write(pos);
32delay(15);
33}
34
35for(pos  = 0; pos<=90; pos += 1) {
36myservo.write(pos);
37delay(15);
38}
39
40pinMode(RIGHT,  INPUT);
41pinMode(LEFT, INPUT);
42
43pinMode(trigpin, OUTPUT);
44pinMode(echopin,  INPUT);
45
46}
47
48void loop(){
49unsigned int distance = read_cm();
50
51int  Right_Value = digitalRead(RIGHT);
52int Left_Value  = digitalRead(LEFT);
53
54Serial.print("R=  ");
55Serial.print(Right_Value);
56Serial.print(" L= ");
57Serial.print(Left_Value);
58Serial.print("  D= ");
59Serial.println(distance);
60
61     if((Right_Value==1) && (distance>=10  && distance<=30)&&(Left_Value==1)){forword();}
62else if((Right_Value==0) && (Left_Value==1)){turnRight();}
63else  if((Right_Value==1) && (Left_Value==0)){turnLeft();}
64else if((Right_Value==1)  && (Left_Value==1)){stop();}
65else if(distance > 5 && distance < 10){stop();}
66else  if(distance < 5){backword();}
67
68delay(50);
69}
70
71long read_cm(){
72  digitalWrite(trigpin, LOW);
73  delayMicroseconds(2);
74  digitalWrite(trigpin,  HIGH);
75  delayMicroseconds(10);
76  time = pulseIn (echopin, HIGH);
77  return  time / 29 / 2;
78}
79
80void forword(){// turn it on going forward
81Motor1.setSpeed(120);
82Motor1.run(FORWARD);
83Motor2.setSpeed(120);
84Motor2.run(FORWARD);
85Motor3.setSpeed(120);
86Motor3.run(FORWARD);
87Motor4.setSpeed(120);
88Motor4.run(FORWARD);
89}
90
91void  backword(){ // the other way
92Motor1.setSpeed(120);
93Motor1.run(BACKWARD); 
94Motor2.setSpeed(120);
95Motor2.run(BACKWARD);
96Motor3.setSpeed(120);
97Motor3.run(BACKWARD);  
98Motor4.setSpeed(120);
99Motor4.run(BACKWARD); 
100}
101
102void turnRight(){  // the other right
103Motor1.setSpeed(200);
104Motor1.run(FORWARD);
105Motor2.setSpeed(200);
106Motor2.run(FORWARD);
107Motor3.setSpeed(100);
108Motor3.run(BACKWARD);
109Motor4.setSpeed(100);
110Motor4.run(BACKWARD);
111}
112
113void  turnLeft(){ // turn it on going left
114Motor1.setSpeed(100);
115Motor1.run(BACKWARD);
116Motor2.setSpeed(100);
117Motor2.run(BACKWARD);
118Motor3.setSpeed(200);
119Motor3.run(FORWARD);
120Motor4.setSpeed(200);
121Motor4.run(FORWARD);
122}
123
124void  stop(){ // stopped
125Motor1.setSpeed(0);  
126Motor1.run(RELEASE);
127Motor2.setSpeed(0);
128Motor2.run(RELEASE);
129Motor3.setSpeed(0);
130Motor3.run(RELEASE);
131Motor4.setSpeed(0);
132Motor4.run(RELEASE);  
133}
134

// www.YouTube.com/Electronics is Fun //

#include<Servo.h>
#include<AFMotor.h>
#define  LEFT A0
#define echopin A1 // echo pin
#define trigpin A2 // Trigger pin
#define  RIGHT A3

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;
  
int pos =0;
long time;

void setup(){

Serial.begin(9600);
myservo.attach(10);

for(pos  = 90; pos <= 180; pos += 1){
myservo.write(pos);
delay(15);
}
 
for(pos  = 180; pos >= 0; pos-= 1) {
myservo.write(pos);
delay(15);
}

for(pos  = 0; pos<=90; pos += 1) {
myservo.write(pos);
delay(15);
}

pinMode(RIGHT,  INPUT);
pinMode(LEFT, INPUT);

pinMode(trigpin, OUTPUT);
pinMode(echopin,  INPUT);

}

void loop(){
unsigned int distance = read_cm();

int  Right_Value = digitalRead(RIGHT);
int Left_Value  = digitalRead(LEFT);

Serial.print("R=  ");
Serial.print(Right_Value);
Serial.print(" L= ");
Serial.print(Left_Value);
Serial.print("  D= ");
Serial.println(distance);

     if((Right_Value==1) && (distance>=10  && distance<=30)&&(Left_Value==1)){forword();}
else if((Right_Value==0) && (Left_Value==1)){turnRight();}
else  if((Right_Value==1) && (Left_Value==0)){turnLeft();}
else if((Right_Value==1)  && (Left_Value==1)){stop();}
else if(distance > 5 && distance < 10){stop();}
else  if(distance < 5){backword();}

delay(50);
}

long read_cm(){
  digitalWrite(trigpin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin,  HIGH);
  delayMicroseconds(10);
  time = pulseIn (echopin, HIGH);
  return  time / 29 / 2;
}

void forword(){// turn it on going forward
Motor1.setSpeed(120);
Motor1.run(FORWARD);
Motor2.setSpeed(120);
Motor2.run(FORWARD);
Motor3.setSpeed(120);
Motor3.run(FORWARD);
Motor4.setSpeed(120);
Motor4.run(FORWARD);
}

void  backword(){ // the other way
Motor1.setSpeed(120);
Motor1.run(BACKWARD); 
Motor2.setSpeed(120);
Motor2.run(BACKWARD);
Motor3.setSpeed(120);
Motor3.run(BACKWARD);  
Motor4.setSpeed(120);
Motor4.run(BACKWARD); 
}

void turnRight(){  // the other right
Motor1.setSpeed(200);
Motor1.run(FORWARD);
Motor2.setSpeed(200);
Motor2.run(FORWARD);
Motor3.setSpeed(100);
Motor3.run(BACKWARD);
Motor4.setSpeed(100);
Motor4.run(BACKWARD);
}

void  turnLeft(){ // turn it on going left
Motor1.setSpeed(100);
Motor1.run(BACKWARD);
Motor2.setSpeed(100);
Motor2.run(BACKWARD);
Motor3.setSpeed(200);
Motor3.run(FORWARD);
Motor4.setSpeed(200);
Motor4.run(FORWARD);
}

void  stop(){ // stopped
Motor1.setSpeed(0);  
Motor1.run(RELEASE);
Motor2.setSpeed(0);
Motor2.run(RELEASE);
Motor3.setSpeed(0);
Motor3.run(RELEASE);
Motor4.setSpeed(0);
Motor4.run(RELEASE);  
}

Code

arduino

1// www.YouTube.com/Electronics is Fun //
2
3#include<Servo.h>
4#include<AFMotor.h>
5#define   LEFT A0
6#define echopin A1 // echo pin
7#define trigpin A2 // Trigger pin
8#define   RIGHT A3
9
10AF_DCMotor Motor1(1,MOTOR12_1KHZ);
11AF_DCMotor Motor2(2,MOTOR12_1KHZ);
12AF_DCMotor   Motor3(3,MOTOR34_1KHZ);
13AF_DCMotor Motor4(4,MOTOR34_1KHZ);
14
15Servo myservo;
16   
17int pos =0;
18long time;
19
20void setup(){
21
22Serial.begin(9600);
23myservo.attach(10);
24
25for(pos   = 90; pos <= 180; pos += 1){
26myservo.write(pos);
27delay(15);
28}
29 
30for(pos   = 180; pos >= 0; pos-= 1) {
31myservo.write(pos);
32delay(15);
33}
34
35for(pos   = 0; pos<=90; pos += 1) {
36myservo.write(pos);
37delay(15);
38}
39
40pinMode(RIGHT,   INPUT);
41pinMode(LEFT, INPUT);
42
43pinMode(trigpin, OUTPUT);
44pinMode(echopin,   INPUT);
45
46}
47
48void loop(){
49unsigned int distance = read_cm();
50
51int   Right_Value = digitalRead(RIGHT);
52int Left_Value  = digitalRead(LEFT);
53
54Serial.print("R=   ");
55Serial.print(Right_Value);
56Serial.print(" L= ");
57Serial.print(Left_Value);
58Serial.print("   D= ");
59Serial.println(distance);
60
61     if((Right_Value==1) && (distance>=10   && distance<=30)&&(Left_Value==1)){forword();}
62else if((Right_Value==0) && (Left_Value==1)){turnRight();}
63else   if((Right_Value==1) && (Left_Value==0)){turnLeft();}
64else if((Right_Value==1)   && (Left_Value==1)){stop();}
65else if(distance > 5 && distance < 10){stop();}
66else   if(distance < 5){backword();}
67
68delay(50);
69}
70
71long read_cm(){
72   digitalWrite(trigpin, LOW);
73  delayMicroseconds(2);
74  digitalWrite(trigpin,   HIGH);
75  delayMicroseconds(10);
76  time = pulseIn (echopin, HIGH);
77  return   time / 29 / 2;
78}
79
80void forword(){// turn it on going forward
81Motor1.setSpeed(120);
82Motor1.run(FORWARD);
83Motor2.setSpeed(120);
84Motor2.run(FORWARD);
85Motor3.setSpeed(120);
86Motor3.run(FORWARD);
87Motor4.setSpeed(120);
88Motor4.run(FORWARD);
89}
90
91void   backword(){ // the other way
92Motor1.setSpeed(120);
93Motor1.run(BACKWARD); 
94Motor2.setSpeed(120);
95Motor2.run(BACKWARD);
96Motor3.setSpeed(120);
97Motor3.run(BACKWARD);   
98Motor4.setSpeed(120);
99Motor4.run(BACKWARD); 
100}
101
102void turnRight(){   // the other right
103Motor1.setSpeed(200);
104Motor1.run(FORWARD);
105Motor2.setSpeed(200);
106Motor2.run(FORWARD);
107Motor3.setSpeed(100);
108Motor3.run(BACKWARD);
109Motor4.setSpeed(100);
110Motor4.run(BACKWARD);
111}
112
113void   turnLeft(){ // turn it on going left
114Motor1.setSpeed(100);
115Motor1.run(BACKWARD);
116Motor2.setSpeed(100);
117Motor2.run(BACKWARD);
118Motor3.setSpeed(200);
119Motor3.run(FORWARD);
120Motor4.setSpeed(200);
121Motor4.run(FORWARD);
122}
123
124void   stop(){ // stopped
125Motor1.setSpeed(0);  
126Motor1.run(RELEASE);
127Motor2.setSpeed(0);
128Motor2.run(RELEASE);
129Motor3.setSpeed(0);
130Motor3.run(RELEASE);
131Motor4.setSpeed(0);
132Motor4.run(RELEASE);   
133}
134

// www.YouTube.com/Electronics is Fun //

#include<Servo.h>
#include<AFMotor.h>
#define   LEFT A0
#define echopin A1 // echo pin
#define trigpin A2 // Trigger pin
#define   RIGHT A3

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;
   
int pos =0;
long time;

void setup(){

Serial.begin(9600);
myservo.attach(10);

for(pos   = 90; pos <= 180; pos += 1){
myservo.write(pos);
delay(15);
}
 
for(pos   = 180; pos >= 0; pos-= 1) {
myservo.write(pos);
delay(15);
}

for(pos   = 0; pos<=90; pos += 1) {
myservo.write(pos);
delay(15);
}

pinMode(RIGHT,   INPUT);
pinMode(LEFT, INPUT);

pinMode(trigpin, OUTPUT);
pinMode(echopin,   INPUT);

}

void loop(){
unsigned int distance = read_cm();

int   Right_Value = digitalRead(RIGHT);
int Left_Value  = digitalRead(LEFT);

Serial.print("R=   ");
Serial.print(Right_Value);
Serial.print(" L= ");
Serial.print(Left_Value);
Serial.print("   D= ");
Serial.println(distance);

     if((Right_Value==1) && (distance>=10   && distance<=30)&&(Left_Value==1)){forword();}
else if((Right_Value==0) && (Left_Value==1)){turnRight();}
else   if((Right_Value==1) && (Left_Value==0)){turnLeft();}
else if((Right_Value==1)   && (Left_Value==1)){stop();}
else if(distance > 5 && distance < 10){stop();}
else   if(distance < 5){backword();}

delay(50);
}

long read_cm(){
   digitalWrite(trigpin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin,   HIGH);
  delayMicroseconds(10);
  time = pulseIn (echopin, HIGH);
  return   time / 29 / 2;
}

void forword(){// turn it on going forward
Motor1.setSpeed(120);
Motor1.run(FORWARD);
Motor2.setSpeed(120);
Motor2.run(FORWARD);
Motor3.setSpeed(120);
Motor3.run(FORWARD);
Motor4.setSpeed(120);
Motor4.run(FORWARD);
}

void   backword(){ // the other way
Motor1.setSpeed(120);
Motor1.run(BACKWARD); 
Motor2.setSpeed(120);
Motor2.run(BACKWARD);
Motor3.setSpeed(120);
Motor3.run(BACKWARD);   
Motor4.setSpeed(120);
Motor4.run(BACKWARD); 
}

void turnRight(){   // the other right
Motor1.setSpeed(200);
Motor1.run(FORWARD);
Motor2.setSpeed(200);
Motor2.run(FORWARD);
Motor3.setSpeed(100);
Motor3.run(BACKWARD);
Motor4.setSpeed(100);
Motor4.run(BACKWARD);
}

void   turnLeft(){ // turn it on going left
Motor1.setSpeed(100);
Motor1.run(BACKWARD);
Motor2.setSpeed(100);
Motor2.run(BACKWARD);
Motor3.setSpeed(200);
Motor3.run(FORWARD);
Motor4.setSpeed(200);
Motor4.run(FORWARD);
}

void   stop(){ // stopped
Motor1.setSpeed(0);  
Motor1.run(RELEASE);
Motor2.setSpeed(0);
Motor2.run(RELEASE);
Motor3.setSpeed(0);
Motor3.run(RELEASE);
Motor4.setSpeed(0);
Motor4.run(RELEASE);   
}

Downloadable files

Circuit Diagram

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