Code for Robot Gear Motor (RIDA).txt

Code for Robot Gear Motor (Tyres):

#include <AFMotor.h>

const int trigPin = A0;
const int echoPin = A1;
const int trigPin1 = A2;
const int echoPin1 = A3;
int mpin = A4;
int mout;
long duration, duration1;
int distance, distance1;

AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor4(4, MOTOR12_1KHZ);

void setup() {
  Serial.begin(9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(trigPin1, OUTPUT);
  pinMode(echoPin1, INPUT);

  motor1.setSpeed(255);
  motor2.setSpeed(255);
}

void loop() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2;
  digitalWrite(trigPin1, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin1, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin1, LOW);
  duration1 = pulseIn(echoPin1, HIGH);
  distance1 = duration1 * 0.034 / 2;

  if (distance >= 15) {
    Forward();
    delay(100);
  }
  else if (distance < 15) {
    Stop();
    delay(70);

    digitalWrite(trigPin1, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin1, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin1, LOW);
    duration1 = pulseIn(echoPin1, HIGH);
    distance1 = duration1 * 0.034 / 2;
  }

  mout = analogRead(mpin);

  if (distance1 < 6 && mout <= 500) {
    Stop();
    delay(100);
    Forward();
    delay(1000);
  }

  if (distance1 < 6 && mout > 500) {
    while (mout > 500) {
      motor4.run(FORWARD);
      mout = analogRead(mpin);
      if (mout <= 500) {
        motor4.run(RELEASE);
        delay(100);
        break;
      }
    }
  }
}

void Stop() {
  motor1.run(RELEASE);
  motor2.run(RELEASE);
}

void Forward() {
  motor1.run(FORWARD);
  motor2.run(FORWARD);
}



Code for Ultrasonic Sensor to Stop the Robot/ detect obstacle



const int trigPin = A0;
const int echoPin = A1;
int distance;
long duration;

AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(2, MOTOR12_1KHZ);

void setup() {
  Serial.begin(9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  motor1.setSpeed(255);
  motor2.setSpeed(255);
}

void loop() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2;

  if (distance >= 15) {
    Forward();
    delay(100);
  } else {
    Stop();
    delay(70);
  }
}

void Stop() {
  motor1.run(RELEASE);
  motor2.run(RELEASE);
}

void Forward() {
  motor1.run(FORWARD);
  motor2.run(FORWARD);
}