How To Build An Obstacle Avoiding Robot

How To Build An Obstacle Avoiding Robot

Alat dan Bahan yang dibutuhkan :

1x Arduino Uno

1x Ultra Sonic Sensor

1x Motor Driver L298N

4x Motor DC (Sebagai Roda)

1x Battery +9V for Motor L298N

1x Battery +9V for Arduino UNO

Kabel jumper secukupnya

Langkah-langkahnya :

1.      Susun rangkaian seperti gambar berikut :

Keterangan Konfigurasi Kabel :

·         Hubungkan Pin Vcc Ultrasonic Sensor ke Pin +5V Arduino

·         Hubungkan Pin Echo Ultrasonic Sensor ke Pin 3 Arduino

·         Hubungkan Pin Trigger Ultrasonic Sensor ke Pin 2 Arduino

·         Hubungkan Pin Ground Ultrasonic Sensor ke Pin Ground Arduino

·         Hubungkan Pin IN1 L298N ke Pin 7 Arduino

·         Hubungkan Pin IN2 L298N ke Pin 6 Arduino

·         Hubungkan Pin IN3 L298N ke Pin 5 Arduino

·         Hubungkan Pin IN4 L298N ke Pin 4 Arduino

·         Solder Pin Motor DC (Contoh lihat pada Gambar diatas)

·         Hubungkan +12V Motor Driver L298N ke +9V Battery

·         Hubungkan Ground Motor Driver L298N ke Battery dan Ke Pin Ground Arduino

1.      Jalankan program Arduino-nya.

2.      Klik menu "Tools -> Board -> Arduino Uno"

3.      Klik menu "Tools -> Port -> ( Pilih Port arduino yang terdeteksi di komputer anda )

4.      Lalu masukan Sketch dibawah ini.

#include <NewPing.h>

#define TRIGGER_PIN  2  // Arduino pin tied to trigger pin on ping censor(CENTER censor)

#define ECHO_PIN     3 // Arduino pin tied to echo pin on ping censor(CENTER censor)

#define MAX_DISTANCE 200

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

unsigned int pingSpeed = 50;

unsigned long pingTimer;     // Holds the next ping time.

int distance;

int distanceL;

int distanceR;

//MotorSetting; Using DFRobot L298 2A Motor Controller

int M1 = 4;

int E1 = 5;

int M2 = 7;

int E2 = 6;

int pwm_speed;

int speedVal = 255;

//char command = '\0';

void setup() {

  Serial.begin(9600); // Open serial monitor at 9600 baud to see ping results.

  pinMode(M1, OUTPUT);

  pinMode(M2, OUTPUT);

  pinMode(10, OUTPUT);

  delay(250);

}

void loop() {

      distance  = sonar.ping_cm();

      Serial.println(distance);

      if (distance > 25){

        Drive("Forward");

        Serial.println("maju");

      }

      else if (distance < 25 && distance > 10)

      {

          Drive("TurnRight");

          delay(250);

          Drive("Stop");

          distanceR = sonar.ping_cm();

          Drive("TurnLeft");

          delay (250);

          Drive ("Stop");

          distanceL = sonar.ping_cm();

            if (distanceR > distanceL) {

              Drive ("TurnRight");

              Serial.println("kanan");

              delay (250);

              Drive ("Forward");

             

            }

            else {

              Drive ("TurnLeft");

              Serial.println("kiri");

              delay (250);

              Drive ("Forward");

            }

     }

     else {

        Drive ("Backward");

        Serial.println("mundur");

        delay (100);

        Drive ("Stop");

     }

}

//Mechatronic and Robotic//

//Electrical Engineering//

//Malikussaleh of University//

/////////////////Directions Setup/////////////////////////

void Drive(String Direction) {

  if (Direction == "Backward") {

    // Serial.println("Backward");

    analogWrite(E1, 255);

    analogWrite(E2, 255);

    digitalWrite(M1, LOW);

    digitalWrite(M2, LOW);

  }

  if (Direction == "Forward") {

    // Serial.print("Forward");

    analogWrite(E1, 255);

    analogWrite(E2, 255);

    digitalWrite(M1, HIGH);

    digitalWrite(M2, HIGH);

   

  }

  if (Direction == "Stop") {

    //Serial.print("Stop");

    analogWrite(E1, 0);

    analogWrite(E2, 0);

  }

  if (Direction == "TurnRight") {

    //Serial.print("Turning Right");

    analogWrite(E1, 255);

    analogWrite(E2, 255);

    digitalWrite(M1, LOW);

    digitalWrite(M2, HIGH);

  }

  if (Direction == "TurnLeft") {

    // Serial.print("Turning Left");

    analogWrite(E1, 255);

    analogWrite(E2, 255);

    digitalWrite(M1, HIGH);

    digitalWrite(M2, LOW);

  }

}

void test_speed() {

  // constrain speed value to between 0-255

  if (speedVal > 250) {

    speedVal = 255;

    Serial.println(" MAX ");

  }

  if (speedVal < 0) {

    speedVal = 0;

    Serial.println(" MIN ");

  }

}

//--------------------------------------

/*

long microsecondsToCentimeters(long microseconds) {

  // The speed of sound is 340 m/s or 29 microseconds per centimeter.

  // The ping travels out and back, so to find the distance of the

  // object we take half of the distance travelled.

  //return microseconds / 29 / 2;

  return microseconds / 10; //basically 58

}*/

/////////////////////////////////////////////////////////////////////////