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Autonomous Robot Project
Code to move the rover
#define MotorLA 9 // B1 on H-Bridge
#define MotorLB 10 // B2
#define MotorRA 6 // B1 on H-Bridge
#define MotorRB 5 // B2
// All the sensor Pins for Trigger and Echoing
#define frontRightTrigPin 2
#define frontRightEchoPin 24
#define frontLeftTrigPin 30
#define frontLeftEchoPin 28
#define rightTrigPin 48
#define rightEchoPin 52
#define backRightTrig 53
#define backRightEcho 36
#define foot 600
//Encoder values
#define encoderLeftA 3
#define encoderLeftB 7
#define encoderRightA 8
#define encoderRightB 11
#define LEDFront 41
#define LEDBright 42
#define LEDRight 47
#define distCount 13
#define LEDLSB 22
#define LED2bit 23
#define LEDMSB 25
void CheckSensors(void);
bool state = false;
uint8_t frontRDistanceGB = 5;
uint8_t frontLDistanceGB = 5;
int DistanceGB = 0;
char function;
char modMF = 10;
char encoderArray[4];
char turnArray[4];
char CSRturnLoopcnt = 0;
char CornerCount = 0;
char CheckCorner = 0;
char InsideCounterLoop = 0;
bool testcodeB = true;
void setup() {
// put your setup code here, to run once:
pinMode(6, OUTPUT);
Serial.begin(9600); //Begin serial communcation
pinMode(5, OUTPUT);
pinMode(9,OUTPUT);
pinMode(10, OUTPUT);
pinMode(encoderLeftA, INPUT);
pinMode(encoderLeftB, INPUT);
pinMode(encoderRightA, INPUT);
pinMode(encoderRightB, INPUT);
pinMode(frontRightTrigPin, OUTPUT);
pinMode(frontRightEchoPin, INPUT);
pinMode(rightTrigPin, OUTPUT);
pinMode(rightEchoPin, INPUT);
pinMode(frontLeftTrigPin, OUTPUT);
pinMode(frontLeftEchoPin, INPUT);
pinMode(backRightTrig, OUTPUT);
pinMode(backRightEcho, INPUT);
pinMode(LEDFront, OUTPUT);
pinMode(LEDLSB, OUTPUT);
pinMode(LED2bit, OUTPUT);
pinMode(LEDMSB, OUTPUT);
pinMode(distCount, INPUT);
encoderArray[0] = digitalRead(encoderLeftA);
encoderArray[1] = digitalRead(encoderLeftB);
encoderArray[2] = digitalRead(encoderRightA);
encoderArray[3] = digitalRead(encoderRightB);
turnArray[0] = digitalRead(encoderLeftA);
turnArray[1] = digitalRead(encoderLeftB);
turnArray[2] = digitalRead(encoderRightA);
turnArray[3] = digitalRead(encoderRightB);
delay(3000);
}
void loop() {
if(Serial.available()){
delay(100);
function = Serial.read();
if(function == '1'){
//turnRight();
state = true;
}
else if( function == '2'){
state = false;
Stop();
}
}
if(state == true){
/*if (CornerCount >= 8){
innerCheckSensors(55, 55, 80, 80);
frontRDistanceGB = 40;
frontLDistanceGB = 40;
modMF = 2;
}
else{
CheckSensors(10, 10, 25, 25);
}
*/
bool onetimetest = false;
if (testcodeB == true){
turnLeft();
moveForward(400);
Stop();
testcodeB = false;
turnLeft();
onetimetest = true;
}
if (onetimetest == true){
swirl();
}
if (CheckCorner % 2 == 0){
if(DistanceGB/foot == 0 || DistanceGB/foot == 8){
digitalWrite(LEDMSB, LOW);
digitalWrite(LED2bit, LOW);
digitalWrite(LEDLSB, LOW);
}
else if(DistanceGB/foot == 1 || DistanceGB/foot == 9){
digitalWrite(LEDMSB, LOW);
digitalWrite(LED2bit, LOW);
digitalWrite(LEDLSB, HIGH);
}
else if(DistanceGB/foot == 2 || DistanceGB/foot == 10){
digitalWrite(LEDMSB, LOW);
digitalWrite(LED2bit, HIGH);
digitalWrite(LEDLSB, LOW);
}
else if(DistanceGB/foot == 3 || DistanceGB/foot == 11){
digitalWrite(LEDMSB, LOW);
digitalWrite(LED2bit, HIGH);
digitalWrite(LEDLSB, HIGH);
}
else if(DistanceGB/foot == 4 || DistanceGB/foot == 12){
digitalWrite(LEDMSB, HIGH);
digitalWrite(LED2bit, LOW);
digitalWrite(LEDLSB, LOW);
}
else if(DistanceGB/foot == 5 || DistanceGB/foot == 13){
digitalWrite(LEDMSB, HIGH);
digitalWrite(LED2bit, LOW);
digitalWrite(LEDLSB, HIGH);
}
else if(DistanceGB/foot == 6 || DistanceGB/foot == 14){
digitalWrite(LEDMSB, HIGH);
digitalWrite(LED2bit, HIGH);
digitalWrite(LEDLSB, LOW);
}
else if(DistanceGB/foot == 7 || DistanceGB/foot == 15){
digitalWrite(LEDMSB, HIGH);
digitalWrite(LED2bit, HIGH);
digitalWrite(LEDLSB, HIGH);
}
}
}
}
void CheckSensors(int CSfrontRDist, int CSfrontLDist, int CSrightDist, int CSbackRightDist){
int CSrightDistance = 0;
int CSBrightDistance = 0;
int RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
while(RightfrontdistMF == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
digitalWrite(LEDFront, HIGH);
}
int LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
while(LeftfrontdistMF == 0){
Stop();
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
digitalWrite(LEDFront, HIGH);
}
if (RightfrontdistMF <= CSfrontRDist || LeftfrontdistMF <= CSfrontLDist){ //Checks if there is a wall forward and goes into cond if there is a wall
Stop();
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
while(CSrightDistance == 0){
Stop();
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
digitalWrite(LEDRight, HIGH);
}
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
while(CSBrightDistance == 0){
Stop();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
if (CSrightDistance <= CSrightDist || CSbackRightDist <= CSBrightDistance){ //Checks if there is a wall forward and if it is next to a wall
turnLeft();
CheckCorner++;
CornerCount++;
if (CornerCount == 8){
return;
}
int CSBackcounter = 0;
while(CSBrightDistance <= CSbackRightDist){
CSBackcounter++;
moveForward(70);
if (CSBackcounter % 4 == 0){
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
while(RightfrontdistMF == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
digitalWrite(LEDFront, HIGH);
}
int LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
while(LeftfrontdistMF == 0){
Stop();
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
digitalWrite(LEDFront, HIGH);
}
if (RightfrontdistMF <= 10 || LeftfrontdistMF <= 10){
return;
}
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
while(CSBrightDistance == 0){
Stop();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
while(CSrightDistance == 0){
Stop();
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
digitalWrite(LEDRight, HIGH);
}
int CSAutoCorrectcnt = 0;
AutoCorrect();
}
if(CSBackcounter % 2 == 0){
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
while(CSBrightDistance == 0){
Stop();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
}
}
Stop();
moveForward(55); //was 55
}
else{ //There is a wall forward and nothing on its right
turnRight();
Stop();
moveForward(250);
}
}
else{ //There is no wall in front of the rover
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
while(CSrightDistance == 0){
Stop();
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
digitalWrite(LEDRight, HIGH);
}
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
while(CSBrightDistance == 0){
Stop();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
if (CSrightDistance <= CSrightDist || CSBrightDistance <= CSbackRightDist){ //There is no wall in front and wall/object to the right
int CSBackcounter = 0;
while(CSBrightDistance <= CSbackRightDist){
CSBackcounter++;
moveForward(140);
if (CSBackcounter % 3 == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
while(RightfrontdistMF == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
digitalWrite(LEDFront, HIGH);
}
int LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
while(LeftfrontdistMF == 0){
Stop();
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
digitalWrite(LEDFront, HIGH);
}
if (RightfrontdistMF <= 10 || LeftfrontdistMF <= 10){
return;
}
AutoCorrect();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
while(CSBrightDistance == 0){
Stop();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
while(CSrightDistance == 0){
Stop();
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
digitalWrite(LEDRight, HIGH);
}
}
if(CSBackcounter % 2 == 0){
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
while(CSBrightDistance == 0){
Stop();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
}
}
Stop();
moveForward(50); //was 100
}
else{ //There is no wall in front and there is no wall to the right -> so, turn left and move forward
CSRturnLoopcnt++;
turnRight();
CheckCorner++;
moveForward(250);
Stop();
if (CSRturnLoopcnt == 3){
moveForward(10000);
turnRight();
CSRturnLoopcnt = 0;
}
if (CSRturnLoopcnt == 2){
moveForward(600);
CSRturnLoopcnt = 0;
}
}
}
}
void innerCheckSensors(int CSfrontRDist, int CSfrontLDist, int CSrightDist, int CSbackRightDist){
int CSrightDistance = 0;
int CSBrightDistance = 0;
int RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
while(RightfrontdistMF == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
digitalWrite(LEDFront, HIGH);
}
int LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
while(LeftfrontdistMF == 0){
Stop();
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
digitalWrite(LEDFront, HIGH);
}
if (RightfrontdistMF <= CSfrontRDist || LeftfrontdistMF <= CSfrontLDist){ //Checks if there is a wall forward and goes into cond if there is a wall
Stop();
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
while(CSrightDistance == 0){
Stop();
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
digitalWrite(LEDRight, HIGH);
}
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
while(CSBrightDistance == 0){
Stop();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
if (CSrightDistance <= CSrightDist || CSbackRightDist <= CSBrightDistance){ //Checks if there is a wall forward and if it is next to a wall
turnLeft();
AutoCorrect();
Stop();
CornerCount++;
moveForward(1200);
}
else{ //There is a wall forward and nothing on its right
turnRight();
AutoCorrect();
Stop();
moveForward(1200);
}
}
else{ //There is no wall in front of the rover
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
while(CSrightDistance == 0){
Stop();
CSrightDistance = getDistance(rightTrigPin, rightEchoPin);
digitalWrite(LEDRight, HIGH);
}
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
while(CSBrightDistance == 0){
Stop();
CSBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
if (CSrightDistance <= 120 || CSBrightDistance <= 120){ //There is no wall in front and wall/object to the right
moveForward(1000);
}
else{ //There is no wall in front and there is no wall to the right -> so, turn left and move forward
turnRight();
moveForward(2000);
turnLeft();
AutoCorrect();
CheckCorner++;
delay(200);
moveForward(1000);
}
}
}
void moveForward(int ForwardDistanceMF) {
Stop();
digitalWrite(MotorRA, LOW);
analogWrite(MotorRB, 232);
analogWrite(MotorLA, 198);
digitalWrite(MotorLB, LOW);
int forwardcheckMF = 0;
int RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
while(RightfrontdistMF == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
digitalWrite(LEDFront, HIGH);
}
int LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
while(LeftfrontdistMF == 0){
Stop();
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
digitalWrite(LEDFront, HIGH);
}
while ((forwardcheckMF < ForwardDistanceMF) && (RightfrontdistMF > frontRDistanceGB) && (LeftfrontdistMF > frontLDistanceGB)){
digitalWrite(MotorRA, LOW);
analogWrite(MotorRB, 232);
analogWrite(MotorLA, 198);
digitalWrite(MotorLB, LOW);
if ((encoderArray[0] != digitalRead(encoderLeftA)) || (encoderArray[1] != digitalRead(encoderLeftB))){
forwardcheckMF++;
DistanceGB++;
encoderArray[0] = digitalRead(encoderLeftA);
encoderArray[1] = digitalRead(encoderLeftB);
}
if(forwardcheckMF % modMF == 0) {
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
while(RightfrontdistMF == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
digitalWrite(LEDFront, HIGH);
}
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
while(LeftfrontdistMF == 0){
Stop();
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
digitalWrite(LEDFront, HIGH);
}
}
}
}
int getDistance(int trigger, int echo){
int duration;
digitalWrite(trigger, LOW); // Added this line
delayMicroseconds(10); // Added this line
digitalWrite(trigger, HIGH);
delayMicroseconds(20); // Added this line
digitalWrite(trigger, LOW);
duration = pulseIn(echo, HIGH, 60000);
return (duration/2) / 29.1;
}
void Stop() {
analogWrite(MotorRB, 255);
digitalWrite(MotorRA, HIGH);
digitalWrite(MotorLB,HIGH);
analogWrite(MotorLA, 255);
delay(325);
}
void turnRight(){
Stop();
int turncountL = 0;
int turncountR = 0;
while(turncountL < 440 || turncountR < 440){
if ((turnArray[0] != digitalRead(encoderLeftA)) || (turnArray[1] != digitalRead(encoderLeftB))){
turncountL++;
turnArray[0] = digitalRead(encoderLeftA);
turnArray[1] = digitalRead(encoderLeftB);
}
if ((turnArray[2] != digitalRead(encoderRightA)) || (turnArray[3] != digitalRead(encoderRightB))){
turncountR++;
DistanceGB++;
turnArray[2] = digitalRead(encoderRightA);
turnArray[3] = digitalRead(encoderRightB);
}
analogWrite(MotorRB, 100);
digitalWrite(MotorRA, HIGH);
digitalWrite(MotorLB, LOW);
analogWrite(MotorLA, 200);
}
}
void turnLeft(){
Stop();
int turncountL = 0;
int turncountR = 0;
while(turncountL < 440 || turncountR < 440) {
if ((turnArray[0] != digitalRead(encoderLeftA)) || (turnArray[1] != digitalRead(encoderLeftB))){
turncountL++;
DistanceGB++;
turnArray[0] = digitalRead(encoderLeftA);
turnArray[1] = digitalRead(encoderLeftB);
}
if ((turnArray[2] != digitalRead(encoderRightA)) || (turnArray[3] != digitalRead(encoderRightB))){
turncountR++;
turnArray[2] = digitalRead(encoderRightA);
turnArray[3] = digitalRead(encoderRightB);
}
analogWrite(MotorRB, 200);
digitalWrite(MotorRA, LOW);
digitalWrite(MotorLB, HIGH);
analogWrite(MotorLA, 100);
}
}
void AutoCorrect(){
int AutoCorrectcnt = 0;
int ACrightDistance = getDistance(rightTrigPin, rightEchoPin);
int ACBrightDistance = getDistance(backRightTrig,backRightEcho);
while (ACrightDistance != ACBrightDistance){
if (ACrightDistance > ACBrightDistance) {
analogWrite(MotorRB, 255);
digitalWrite(MotorRA, HIGH);
digitalWrite(MotorLB, LOW);
analogWrite(MotorLA, 180);
}
else{
analogWrite(MotorRB, 180);
digitalWrite(MotorRA, LOW);
digitalWrite(MotorLB,HIGH);
analogWrite(MotorLA, 255);
}
AutoCorrectcnt++;
if (AutoCorrectcnt % 4){
ACBrightDistance = getDistance(backRightTrig,backRightEcho);
while(ACBrightDistance == 0){
Stop();
ACBrightDistance = getDistance(backRightTrig,backRightEcho);
digitalWrite(LEDBright, HIGH);
}
ACrightDistance = getDistance(rightTrigPin, rightEchoPin);
while(ACrightDistance == 0){
Stop();
ACrightDistance = getDistance(rightTrigPin, rightEchoPin);
digitalWrite(LEDRight, HIGH);
}
}
}
}
void snake(void){
moveForward(10000);
turnLeft();
Stop();
moveForward(150);
Stop();
turnLeft();
Stop();
moveForward(10000);
Stop();
turnRight();
Stop();
moveForward(150);
Stop();
turnRight();
Stop();
moveForward(10000);
Stop();
}
void swirl(void){
frontRDistanceGB = 40;
frontLDistanceGB = 40;
modMF = 2;
moveForward2(10000);
turnRight();
Stop();
delay(1000);
moveForward2(10200);
turnRight();
Stop();
delay(1000);
moveForward2(10400);
turnRight();
Stop();
delay(1000);
moveForward2(10900);
turnRight();
}
void moveForward2(int ForwardDistanceMF) {
Stop();
digitalWrite(MotorRA, LOW);
analogWrite(MotorRB, 232);
analogWrite(MotorLA, 198);
digitalWrite(MotorLB, LOW);
int forwardcheckMF = 0;
int RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
while(RightfrontdistMF == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
digitalWrite(LEDFront, HIGH);
}
int LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
while(LeftfrontdistMF == 0){
Stop();
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
digitalWrite(LEDFront, HIGH);
}
while ((forwardcheckMF < ForwardDistanceMF) || (RightfrontdistMF > frontRDistanceGB) || (LeftfrontdistMF > frontLDistanceGB)){
digitalWrite(MotorRA, LOW);
analogWrite(MotorRB, 232);
analogWrite(MotorLA, 198);
digitalWrite(MotorLB, LOW);
if ((encoderArray[0] != digitalRead(encoderLeftA)) || (encoderArray[1] != digitalRead(encoderLeftB))){
forwardcheckMF++;
DistanceGB++;
encoderArray[0] = digitalRead(encoderLeftA);
encoderArray[1] = digitalRead(encoderLeftB);
}
if(forwardcheckMF % modMF == 0) {
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
while(RightfrontdistMF == 0){
Stop();
RightfrontdistMF = getDistance(frontRightTrigPin, frontRightEchoPin);
digitalWrite(LEDFront, HIGH);
}
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
while(LeftfrontdistMF == 0){
Stop();
LeftfrontdistMF = getDistance(frontLeftTrigPin, frontLeftEchoPin);
digitalWrite(LEDFront, HIGH);
}
}
}
}
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