Arduino board program for Mobile robotss

COIMBATORE – 641 004
SESSION 1
PSG COLLEGE OF TECHNOLOGY
1
Selvaraj. K
Project Engineer
PSG-Robotics

OVERVIEW
 Microcontroller Defined
 Arduino Defined
 Arduino Advantages
 Arduino Applications
 Types of Arduino Boards
 Analog, Digital, Inputs and Outputs

MICROCONTROLLER
 Microcontroller Like as
Brain
 It make decision in the
Robots
 It collect the information
from the Sensors and control
the actuator by the command

MICROCONTROLLER
 Microcontroller It is a Decision maker
with help of ROM,RAM and
Arithmetic Logic Unit.
 Input port- Eye(Sensor)
 Output Port- Mouth(Actuators or
Speaker)
 All input and output ports are
controlled by the programming

MICROCONTROLLER
 Programmers work in the virtual world.
 Machinery works in the physical world.
 How does one connect the virtual world to the physical world?
 A microcontroller is basically a small-scale computer with
generalized (and programmable) inputs and outputs.
 The inputs and outputs can be manipulated by and can
manipulate the physical world

INTRODUCTION ABOUT ARDUINO
Based on a simple micro-controller board, and
A development environment (IDE) for writing software for the board
Open source electronics prototyping platform based on flexible ,Easy to use hardware
and software
Arduino can be used to develop interactive objects, taking inputs from a variety of
switches or sensors, and controlling a variety of lights, motors, and other physical
outputs. Arduino projects can be stand-alone, or they can be communicate with
software running on your computer (e.g. Flash, Processing, MaxMSP.) The boards can
be assembled by hand or purchased preassembled; the open-source IDE can be
downloaded for free.
The Arduino programming language is an implementation of Wiring, a similar physical
computing platform, which is based on the Processing multimedia programming
environment.

MAIN ADVANTAGES OF ARDUINO
 Arduino microcontrollers have become the de facto standard.
Make Magazine features many projects using Arduino
microcontrollers.
 Strives for the balance between ease of use and usefulness.
Programming languages seen as major obstacle.
Arduino C is a greatly simplified version of C++.
 Unit price around Rs.1400

APPLICATION AREAS
Light control
Motor control
Automation
Robotics
Networking
Custom protocols
Your imagination is the limit…

TYPES OF ARDUINO BOARDS
 Many different versions
Number of input/output channels
Form factor
Processor
 Leonardo
 Due
 Micro
 LilyPad
 Esplora
 Uno
 Mega

LEONARDO
 Compared to the Uno, a slight upgrade
 Built in USB compatibility

DUE
 Much faster processor, many more pins
 Operates on 3.3 volts
 Similar to the Mega

MICRO
 When size matters: Micro, Nano, Mini
 Includes all functionality of the Leonardo
 Easily usable on a breadboard

LILYPAD
 LilyPad is popular for clothing-based projects.
 It is a Low weight and flexible

ESPLORA
 Game controller
 Includes joystick, four buttons, linear potentiometer (slider), microphone,
light sensor, temperature sensor, three-axis accelerometer.
 Not the standard set of IO pins.

MEGA
 Compared to the Uno, the Mega:
Many more communication pins
More memory

ARDUINO MEGA
 Physically larger than all the other boards
 Offers significantly more digital and analog pins.
 Uses a different processor allowing greater program size
Microcontroller: ATmega1280
Operating Voltage 5V
Input Voltage: 7-12V
Digital I/O Pins 54 (of which 14 provide PWM output)

ARDUINO MEGA
Analog Input Pins 16
Flash Memory 128 KB of which 4 KB used by boot loader
SRAM 8 KB
EEPROM 4 KB
Clock Speed 16 MHZ

ARDUINO UNO
 The pins are in three groups:
Invented in 2010
14 digital pins
6 analog pins
power

ARDUINO UNO
 Microcontroller ATmega 328
 Operating Voltage 5V
 Input Voltage (recommended) 7-12V
 Input Voltage (limits) 6-20V
 Digital I/O Pins 14 (of which 6 provide PWM output)
 Analog Input Pins 6
 DC Current per I/O Pin 40 mA
 DC Current for 3.3V Pin 50 mA
 Flash Memory 32 KB (of which 0.5 KB used by boot loader)
 SRAM 2 KB (ATmega328)
 EEPROM 1 KB (ATmega328)
 Clock Speed 16 MHz

 Totally Arduino Uno have 14 Digital Input and Output
pins. They are numbered 0 to 13.
 Analog Input Pins are A0 to A5

UNDERSTANDING INPUT VS OUTPUT
 INPUT PIN
Inputs is a signal / information
going into the board.
 OUTPUT PIN
Output is any signal exiting
the board.

ANALOG VS DIGITAL
ANALOG
 Microcontrollers are digital devices – ON or OFF
DIGITAL
 An Analog signal is anything that can be a full range of values.
What are some examples? Think of like a ramp or a hill.

INPUT and OUTPUT
1. analogRead-Analog INPUT
2. analogWrite-Analog OUTPUT
3. digitalRead- digital INPUT
4. digitalWrite- digital OUTPUT

BASIC KNOWLEDGE REQUIRED
 Ohms LAW
 Current
 Voltage
 Resister
 Capacitor
 Inductor
 Voltage LAW
 Current Law
 Rheostat function
 Transformer
 Rectifier
 Regulator
 Inverter
 Amplifier
 Diode
 Transistor
 AC and DC Voltages
 Types of Motors
 Basic sensors

PULL UP RESISTER PULL DOWN RESISTER

ANALOG VS DIGITAL
To create an analog signal, the microcontroller uses a technique
called PWM.
Pins 3, 5, 6, 9, 10, 11 are capable of producing an Analog
Output
•Pulse Width Modulation (PWM)

OVERVIEW
 Objectives
 Startup Arduino IDE
 Arduino Sketch Details
 Commands ,Operators, Variables
 Basic Repetitions
 Settings and Configurations

OBJECTIVES
 Provide a thorough introduction to the Arduino programming
environment.
 Develop a use of simple functions to interact with the LEDs, light
sensor, push button, and buzzer on the Protosnap Pro Mini.

STARTUPARDUINO IDE
 Double-click on either the Arduino Icon or wherever you installed
(saved) the Arduino program.

COMMENTS
 Comments can be anywhere
 Comments created with // or /* and */
 Comments do not affect code
 You may not need comments, but think about the community.

OPERATORS
The equals sign
= is used to assign a value
== is used to compare values
And & Or
&& is “and”
|| is “or”

BASIC VARIABLE TYPES
Boolean
Integer
Double
Float
Character
String

DECLARING VARIABLES
Boolean: boolean variableName;
Integer: int variableName;
Character: char variableName;
String: stringName [ ];

ASSIGNING VARIABLES
 Boolean: variableName = true;
or variableName = false;
 Integer: variableName = 32767;
or variableName = -32768;

VARIABLE SCOPE
Where you declare your variables matters?

SETUP
void setup ( ) { }
The setup function comes before the loop function and is necessary
for all Arduino sketches

SETUP
void setup ( ) { }
The setup header will never change, everything else that
occurs in setup happens inside the curly brackets

SETUP
void setup ( ) {
pinMode (13, OUTPUT); }
Outputs are declare in setup, this is done by using the pinMode
function
This particular example declares digital pin # 13 as an output,
remember to use CAPS

SETUP
void setup ( ) { Serial.begin;}
Serial communication also begins in setup
This particular example declares Serial communication at a baud
rate of 9600. More on Serial later...

Setup, Internal Pullup Resistors
void setup ( ) {
digitalWrite (12, HIGH); }
 You can also create internal pullup resistors in setup, to do so digitalWrite
the pin HIGH
 This takes the place of the pullup resistors currently on your circuit 7
buttons

Setup, Interrupts
void setup ( )
{
attachInterrupt (interrupt, function, mode) }
You can designate an interrupt function to Arduino pins # 2 and 3
volatile unsigned int L=1;
volatile double Le,Re;
void setup()
{
attachInterrupt(0, countpulsesL, FALLING);
Serial.begin(9600);}
void loop() {
Serial.println(L);
delay(1000);}
void countpulsesL() {L++;}

Setup, Interrupts
void setup ( )
{
attachInterrupt (interrupt, function, mode)
}
Interrupt: the number of the interrupt, 0 or 1, corresponding
to Arduino pins # 2 and 3 respectively
Function: the function to call when the interrupt occurs
Mode: defines when the interrupt should be triggered

Setup, Interrupts
void setup ( )
{
attachInterrupt (interrupt, function, mode)
}
LOW whenever pin state is low
CHANGE whenever pin changes value
RISING whenever pin goes from low to high
FALLING whenever pin goes from low to high
Don’t forget to CAPITALIZE

Example program
void setup()
{
Serial.begin(9600);}
void loop() {
Serial.println(L);
delay(1000);}
void countpulsesL()
{
L++;}

If Statements
if ( this is true ) { do this; }

If
If ( this is true )
{
do this; }

Conditional
If ( this is true ) { do this; }

Action
if ( this is true ) { do this; }

BASIC REPETITION
 loop
 For
 while

BASIC REPETITION
void loop ( ) { }

Basic Repetition
void loop ( ) { }

BASIC REPETITION
for (int count = 0; count<10; count++)
{//for action code goes here
//this could be anything}

BASIC REPETITION
{
//for action code goes here
}

Basic Repetition
{
//for action code goes here
}

BASIC REPETITION
while ( count<10 )
{
//while action code goes here
//should include a way to change count
//variable so the computer is not stuck
//inside the while loop forever
}

BASIC REPETITION
while ( count<10 )
{
//looks basically like a “for” loop
//except the variable is declared before
//and incremented inside the while
//loop
}

ARDUINO DATA COMMUNICATION SETUP
68

CONFIGURING ARDUINO
1. Setup Board
–(Arduino UNO/ ATmega328)
2. Setup COM Port
–PC – Highest COM #

Settings: Tools  Serial Port

Input
Status Bar
Program
Notification
Area

5.- Verify/Compile
6.- Once it compiles, you must see the following
messages in the Status bar and the Program
notification Area

7. Upload it
8. Once it upload, you must see the following
messages in the Status bar and the Program
notification Area

Error
avrdude: stk500_getsync(): not in sync: resp=0x00
can't open device "COM10": The system cannot find the file
specified

ARDUINO PROGRAMMING CHALLENGES
Session III &IV

CHALLENGES
Introduction to use Electronic components
LED Control by Arduino
Multiple LEDs Control by looping
Operators conditions test
Analog sensor test
Analog Sensor Value based LED control

LIST OF COMPONENTS
Arduino board USB cable
L293 driver board Battery

LIST OF COMPONENTS
Dc motor Line array sensor
Potentiometer
Ultrasonic sensor adapter

LIST OF COMPONENTS
Connecting wires Ultrasonic sensor
LEDs
Resisters
Reset button/switch

ARDUINO PROGRAMMING INSTRUCTIONS
pinMode(pin, mode)
Designates the specified pin for input or output
digitalWrite(pin, value)
Sends a voltage level to the designated pin
digitalRead(pin)
Reads the current voltage level from the
designated pin
analog versions of above
analogRead's range is 0 to 1023
serial commands
print, println, write

ARDUINO USING SOLDERLESSBREADBOARD
Solderless Board is useful to build proto types.
Time consuming process of soldering parts together to make
connections
Most important thing in using a solder less breadboard in
understanding its connections
wiring underneath the white cover to be able to connect
parts in a way that complete and flawless lines are provided for
electricity flow
82

Instruction to Components handling
1. Doing circuit connection – Don’t power up Controller
board
2. Don’t use metal surface and maintain at free surface
3. Circuit check before power up
4. Don’t make short circuit
5. After completion of Experiments- all components put in
to box and cross check the list

LED PROGRAMMING FOR BLINKING
FUNCTIONS
Turn LED
ON
Wait
Turn LED
OFF
Wait Repeat

DIGITAL OUTPUT-LED
86
Digital pin 10 connected
with Resister.
Long leg connected with
resister end.
short Leg connected with
Ground.
Ground Pin
Digital Pin

LED FUNCTION INSTRUCTIONS
Connect the positive (+) lead of a power source to
the long leg of an LED.
Connect other leg of the LED to a resistor.
High resistance means a darker light.
Low resistance means brighter light.
No resistance means to the negative lead of the
power source. a burned out LED.
Connect other leg of the resistor

LED FUNCTION
Turn LED
ON
Wait
Turn LED
OFF
Wait
Rinse &
Repeat

CHALLENGES IN LED CONTROL
 Challenge 1A:
Blink LED Every one second
 Challenge 1B:
Multiple LEDs Blink once at a time
 Challenge 1C:
Multiple LEDs- Knight Riders Style
 Challenge 1D:
Color Brightness control using PWM function
 Challenge 1E:
Color Brightness control using potentiometer
 Challenge 1F:
Arduino-Analog Output LED Dimming Using for Loop
Structure

1B. MULTIPLE LEDS CONNECTION
• LED1: Arduino pin2
• All LED’s Gnd- Connected with
Arduino Ground

1B. MULTIPLE LED BLINKING AT A TIME

1D.BRIGHTNESS CONTROL USING analogWrite()

1E.Color Brightness control using
potentiometer

1F. LED DIMMING USING FOR LOOP STRUCTURE
100

Arduino board program for Mobile robotss

LED CONTROLLED BY PUSH BUTTON
 Switch output connected with Arduino pin2
 Led pin connected with Arduino pin 6

PUSH BUTTON FUNCTION
SWITCH IN OPEN SWITCH IN CLOSED
If switch ON- circuit is closed, current will flow in the circuit
path. So input voltage is 5V.
Else switch OFF- circuit is open, no current flow in this path, so
input current 0V.

PROGRAM FOR PUSH BUTTON CONTROL

2. CHALLENGES
CHALLENGE 2A:
LED ON When press any One push button at a time
CHALLENGE 2B:
LED ON when press all push button at a time
CHALLENGE 2C:
LED ON when press at least 2 push button at a time
in 4 push buttons using application
CHALLENGE 2D:
LED ON when press at least 3 push button at a time
in 4 push buttons using application

3. SERIAL MONITOR
CONFIGURE BAUD RATE
 Serial. begin (baud rate)
 Some Examples Baud rate
4800,9600,14400,19200,28800,
38400,5760 and 115200… etc
 AnalogRead Value is 0 to 1023
WATCHING OUTPUT AT SERIAL
MONITOR
 Serial.println();

JOYSTICK DEVELOPMENT
LEFT UP DOWN RIGHT
Display:
RIGHT
LEFT
UP
DOWN

Program:
#include <SoftwareSerial.h>
char a=2,b=3,c=4,d=5;
void setup(void)
{
pinMode(a, INPUT);
digitalWrite(a, HIGH);
pinMode(b, INPUT);
digitalWrite(b, HIGH);
pinMode(c, INPUT);
digitalWrite(c, HIGH);
pinMode(d, INPUT);
digitalWrite(d, HIGH);
Serial.begin(9600);
}

void loop(void)
{
if (digitalRead(a)==LOW)
{
Serial.println("LEFT");
delay(20);
}
else if
(digitalRead(b)==LOW)
{
Serial.println("RIGHT");
delay(20);
}
else if
(digitalRead(c)==LOW)
{
Serial.println("UP");
delay(20); }
else if
(digitalRead(d)==LOW)
{
Serial.println("DOWN");
delay(20); }
else
{
Serial.println("");
delay(20); }
}

LED BRIGHTNESS CONTROLLED FROM
POTENTIOMETER

PROGRAM FOR LED BRIGHTNESS CONTROL
LED BRIGHT:
int pot = A0; // pin that the sensor is attached to pot
int LED=9;
void setup()
{
pinMode(LED, OUTPUT);
Serial.begin(9600);
}
void loop()
{
int analogValue = analogRead(pot)/4;
analogWrite(LED, analogValue);
Serial.println(analogValue);
delay(100);
}

LED ON/OFF CONTROLLED WITH RESPECT TO
COMPARISON OF THRESHOLD
Led on/off controlled with respect to comparison
of threshold and analog value from potentiometer

5.Potentiometr Voltage -Voltage Display
Analog Read value is 0-1023
Divisions (0-5V)
1 Division= 5/ 1023 V= 0.00488 V
Formula:
int POT= analogRead(A0);
int Voltage = POT X 0.0049

HOME MADE AUTOMATION
 If push button is pressed at once- Automatically
electrical fans and lights will ON
If again press the same push button
Automatically electrical fans and lights will OFF
Experiments: LED will ON/ OFF based on this condition

int inPin = 2; // the number of the input pin
int outPin = 6; // the number of the output pin
int state = HIGH; // the current state of the output pin
int reading; // the current reading from the input pin
int previous = LOW; // the previous reading from the input pin
long time = 0; // the last time the output pin was toggled
long debounce = 200; // the debounce time, increase if the output flickers
void setup()
{
pinMode(inPin, INPUT);
pinMode(outPin, OUTPUT);
}
void loop()
{
reading = digitalRead(inPin);
if (reading == HIGH && previous == LOW && millis() - time > debounce)
{
if (state == HIGH)
state = LOW;
else
state = HIGH;
time = millis();
}
digitalWrite(outPin, state);
previous = reading;
}

Interrupt Counting:
void setup()
{
Serial.begin(9600);
}
void loop()
{
Serial.println(L);
delay(1000);
}
void countpulsesL()
{
L++;
}

MOTOR CONTROL AND SENSORS INTERFACING
SESSION V & VI

OVERVIEW
Introduction about Sensors
Introduction about Motors
Motor control
Ultrasonic Sensor Testing
IR array sensor Testing
Motor speed control based on Sensors value

INTRODUCTION ABOUT SENSORS
 Sensor
 Types of sensors
IR sensor
Sound sensor
Temperature
sensor
 How to use it?
 Where to use it?

WHAT IS A SENSOR….?
A sensor is a device that measures a physical quantity and
converts it into a signal which can be read by an observer or
by an instrument
 Sensors are used in everyday objects such as touch-sensitive
elevator buttons (tactile sensor) and lamps which dim or
brighten by touching the base
 Applications include cars, machines, aerospace, medicine,
manufacturing and robotics

WORKING
 IR sensor works on the principle of emitting IR
rays and receiving the reflected ray by a receiver
(Photo Diode)
 IR source (LED) is used in forward bias
 IR Receiver (Photodiode) is used in bias

VOLTAGE COMPARATOR
 A Comparator is a device which compares two voltages or
currents and switches its output to indicate which is larger.
 Comparator is an Op-amp.
PIN DIAGRAM LM 358

TIMER 555 IC
The 555 Timer IC is an integrated circuit (chip)
implementing a variety of timer and multivibrator
applications.
PIN DIAGRAM

Solar Cell
Digital Infrared Ranging
Compass
Touch Switch
Pressure Switch
Limit Switch
Magnetic Reed Switch
Magnetic Sensor
Miniature Polaroid Sensor
Polaroid Sensor Board
Piezo Ultrasonic Transducers
Pyroelectric Detector
Thyristor
Gas Sensor
Gieger-Muller
Radiation Sensor
Piezo Bend Sensor
Resistive Bend Sensors
Mechanical Tilt Sensors
Pendulum Resistive
Tilt Sensors
CDS Cell
Resistive Light Sensor
Hall Effect
Magnetic Field
Sensors
Compass
IRDA Transceiver
IR Amplifier Sensor
IR Modulator
Receiver
Lite-On IR
Remote Receiver
Radio Shack
Remote Receiver
IR Sensor w/lens
Gyro
Accelerometer
IR Reflection
Sensor
IR Pin
Diode
UV Detector
Metal Detector

A motor is any of a class of rotary electrical motors that
converts electrical energy into mechanical energy. The most
common types rely on the forces produced by magnetic fields.
INTRODUCTION ABOUT MOTOR

16/11/2021 PSG College of Technology
TYPES OF MOTORS
• AC motors
• DC motors
• DC geared motors
• Stepper motors
• Servo motors

AC MOTOR
• These are the motors which convert
alternating signal into rotational motion.
• Examples are the motor in water pumps,
table fan, ceiling fan.

DC MOTOR
• These are the motors which convert DC
signals into rotational motion
• In robotics applications they are preferred over
AC motors as the motor and the complete
circuit require same kind of supply i.e DC
supply

DC GEARED MOTORS
• These are the DC geared motors having external gear
arrangement attached with motor.
• These are the motors that are most commonly used in
robotics as they are having considerable torque.

STEPPER MOTOR
A type of motor which
takes DC pulse input and
gives rotating motion in
steps.
They are of two types :
Unipolar : which moves
in one direction only.
Bipolar : which moves in
both directions

• Servo motors are the most powerful motors for
robotic applications.
• They comes in both variants , AC and DC.
• They can change the direction with same
supply.

• A servomechanism, or servo is an automatic device that
uses error-sensing feedback to correct the performance of
a mechanism
• The term correctly applies only to systems where the
feedback or error-correction signals help control
mechanical position or other parameters

• For both way motion ( clockwise and anticlockwise ) of one DC motor, an
“H-Bridge” can be employed.
• For both way motion of two DC motors
“dual H-Bridge IC L293D” can be employed.
S1-S4 ON, S2-S3 OFF (for one direction).
S2-s3 on and s1-s4 off (for other
direction).
ONLY POSSIBLE SWITCHES SETTING FOR ROTATION

DC MOTOR SPEED CONTROL BY USING
POTENTIOMETER
TASK EXPLANATION:
1. Speed Control by Potentiometer
2. Direction change when potentiometer value move less than
500

LINE ARRAY SENSOR CONNECTION
5V- Arduino 5V
GND – Arduino Gnd
S1- Arduino A3
S2- Arduino A2
S3- Arduino A1

ULTRASONIC SENSOR
Measurement Principle of Ultrasonic Sensor
Ultrasonic sensors transmit ultrasonic waves from its
sensor head and again receives the ultrasonic waves
reflected from an object. By measuring the length of time
from the transmission to reception of the sonic wave, it
detects the position of the object.

CONNECTION DETAILS
Vcc- Arduino 5V
Trig-Arduino 12
Echo- Arduino 13
GND- Ardunio Gnd

#include <Servo.h>
Servo myservo;
int pos = 0;
void setup()
{ myservo.attach(9);}
void loop()
{
for(pos = 0; pos <= 180; pos += 1)
{
myservo.write(pos);
delay(15);}
for(pos = 180; pos>=0; pos-=1)
{
myservo.write(pos);
delay(15);
}
}
Servo Motor Loop Function

Potentiometer Control Servo Position
#include <Servo.h>
Servo myservo;
int potpin = 0;
int val;
void setup()
{ myservo.attach(9); }
void loop()
{
val = analogRead(potpin);
val = map(val, 0, 1023, 0, 180);
myservo.write(val);
delay(15); }

LCD PROGRAM
#include <LiquidCrystal.h>
LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
void setup()
{
lcd.begin(16, 2);
lcd.print(" I AM NOT A ROBOT");
}
void loop()
{
lcd.setCursor(0, 1);
lcd.print(millis() / 1000);
}

#include <LiquidCrystal.h>
LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
void setup()
{
lcd.begin(16, 2);
lcd.print(“ROBOTICS");
}
void loop()
{
lcd.noDisplay();
delay(500);
lcd.display();
delay(500);
}

Program
#include <Wire.h>
void setup()
{
Wire.begin();
Serial.begin(9600);
}
void loop() {
Wire.requestFrom(8, 6);
while (Wire.available()) {
char c = Wire.read();
Serial.print(c);
}
delay(500);
}
#include <Wire.h>
void setup()
{
Wire.begin(8);
Wire.onRequest(requestEvent);
}
void loop()
{
delay(100);
}
void requestEvent()
{
Wire.write("hello ");
}
Receiver Sender

Master Sender
#include <Wire.h>
void setup() {
Wire.begin(); // join i2c bus (address optional for master)
}
byte x = 0;
void loop() {
Wire.beginTransmission(8); // transmit to device #8
Wire.write("x is "); // sends five bytes
Wire.write(x); // sends one byte
Wire.endTransmission(); // stop transmitting
x++;
delay(500);
}

Slave Receiver
#include <Wire.h>
void setup() {
Wire.begin(8); // join i2c bus with address #8
Wire.onReceive(receiveEvent); // register event
Serial.begin(9600); // start serial for output
}
void loop() {
delay(100);
}
void receiveEvent(int howMany) {
while (1 < Wire.available()) { // loop through all but the last
char c = Wire.read(); // receive byte as a character
Serial.print(c); }
int x = Wire.read(); // receive byte as an integer
Serial.println(x); // print the integer
}

MOBILE ROBOT DESIGN
SESSION VI

OBSTACLE AVOIDING ROBOT DESIGN
REQUIRING COMPONENTS
 Arduino board
 Motors
 Wheels
 L293d Driver Board
 Battery
 Connecting wires
 Screws
 Screw driver
 Ultrasonic sensor
 Robot chassis
 Robot assemble instruction file
 Arduino IDE

CONCEPT
 Every second check the obstacle and take decision
 If robot meet obstacle in its path when it turn right
or left.

REQUIRING COMPONENTS
Arduino board
Motors
Wheels
L293d Driver Board
Battery
Connecting wires
Screws
Screw driver
Line array sensor
Robot chassis
Robot assemble instruction file
Arduino IDE

CHECK YOUR COMPONENTS BOX

CHECK YOUR COMPONENTS

CHECK YOUR COMPONENTS
Connecting wires Ultrasonic sensor
LEDs
Resisters
Reset button/switch

AND FUNCTION (&&)
INPUT 1 INPUT 2 OUTPUT
0 0 0
0 1 0
1 0 0
1 1 1
INPUT 1 INPUT 2 OUTPUT
0 0 0
0 1 1
1 0 1
1 1 1
OR FUNCTION (||)

Arduino board program for Mobile robotss

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