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PROGRAM FOR SELF CONTROLLING ROBOT TO

ANALYZE AND TAKE TURNS ACCORDINGLY

By,

NIKHIL JOSHI,

14ME30020,

First Year Undergraduate Student,

Department of Mechanical Engineering,

Indian Institute of Technology Kharagpur,India

COMPLETE RUNNING PROGRAM ONLY

NEED IS TO SET THE SPEEDS OF BOTH

THE MOTORS

#include<Servo.h>

Servo n;

const int echo = 8, Trig = 9;//For UltraSonic sound Sensor

int Mp1=3;//Motor for turning Left

int Mp2=6;//Motor for turning Right

int flag=0;//For Selection of Cases(0,1,5,6,7,8)

long duration, inches, cm,cm1,cm2;//Measuring time and corresponding distances of Obstacles

int a1,a2,a3,b1=0;

int l,r;//Left theta and Right theta respectively

int ld,rd;//Left distance and Right distance respectively

int tt[10];//array for LTCDA(Case 7) and RTCDA(Case 8)

int min=500,p;

void setup() {

// put your setup code here, to run once:

Serial.begin(9600);

pinMode(Trig, OUTPUT);//UltraSonic Sensor OUTPUT

pinMode(echo, INPUT);//UltraSonic Sensor INPUT

n.attach(10);//For the Servo

n.write(90);//Setting Servo in the Forward direction

delay(500);//Time for Servo to set to the specified position

pinMode(Mp1,OUTPUT);

pinMode(Mp2,OUTPUT);

}

/*

SWITCH CASE is Used to make program Faster and easy to understand due to its division into

MODULES.

Case 0:Go Straight until obstacle is Detected

Case 1:Turn Detection

Case 5:Left turn initiation

Case 6:Right turn initiation

Case 7:RTCDA

Case 8:LTCDA

*/

void loop()

{

switch(flag)

{

case 0 :

{

{

digitalWrite(Trig, LOW);//Get the distance

delayMicroseconds(2);

digitalWrite(Trig, HIGH);


digitalWrite(Trig, LOW);

duration = pulseIn(echo, HIGH);

cm = duration/29/2;

Serial.print(cm);

Serial.println("cm case :0 initial");

delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

if(cm<20)

{

digitalWrite(Mp1,LOW);


flag=1;

break;

}

if(cm>=20 && cm<500)

{

Serial.println("::::: Going Straight :::::");

analogWrite(Mp1,145);


delay(100);

analogWrite(Mp1,0);

analogWrite(Mp2,0);

}

break;

}

/*Turning Decision*/

case 1:{

n.write(180);

delay(2000);

{







cm = duration/29/2;

Serial.print(cm);

Serial.println("cm case :1 {180} :::::");

delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

cm1=cm;

ld=cm;

n.write(0);

delay(2000);

{







cm = duration/29/2;

Serial.print(cm);


delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

cm2=cm;

rd=cm;

if(cm1>cm2)

{

n.write(90);

flag=5;//case 5

break;

}

if(cm2>cm1)

{

n.write(90);

flag=6;//case 6

break;

}

if(cm1==cm2)

{

n.write(90);

flag=0;

break;

}

}

/* Left Turn Preparation {LTP}*/

case 5:{

{







cm = duration/29/2;

Serial.print(cm);

Serial.println("cm --->--->---> // TT0 case 5 \\");

delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

if(cm>40)

{


flag=8;

break;

}

if(cm<40){

digitalWrite(Mp2,HIGH);

delay(75);


delay(100);

}

break;

}

/*Right Turn Preparation*/

case 6:{

{







cm = duration/29/2;

Serial.print(cm);

Serial.println("cm --->--->---> ---TT0---RIGHT---case 6 ");

delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

if(cm>40)

{


flag=7;

break;

}

if(cm<40){

digitalWrite(Mp1,HIGH);

delay(100);


delay(100);

}

break;

}

/*Right Turn Completion Detection Algorithm[RTCDA]*/

case 7:{

for(int i=180,j=0;i>90;i=i-10,j++)

{

n.write(i);

delay(500);

{







cm = duration/29/2;

Serial.print(cm);

Serial.println("cm case 7 right { TT1 }");

delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

tt[j]=cm;

}

n.write(90);

delay(1000);

for(int j=0;j<9;j++)

{

if(min>tt[j])

{

min=tt[j];

p=j;

}

}

l=p*10;

Serial.print("180-(p*10)::::: So,theta= ");

Serial.println((p*10));

if(min>25)

{

Serial.println("::::: GOT a PROBLEM , PROBABLY A OVERTURN :::::");

}

if(p*10!=0){digitalWrite(Mp1,HIGH);

delay(350);

digitalWrite(Mp1,LOW);}

min=500;

if(p==0)

{

for(int k=0;k<1;k++)

{

for(int i=180,j=0;i>90;i=i-10,j++)

{

n.write(i);

delay(500);

{







cm = duration/29/2;

Serial.print(cm);

Serial.println("cm case :0 { TT1 ************777777}");

delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

tt[j]=cm;

}

n.write(90);

delay(1000);


{

if(min>tt[j])

{

min=tt[j];

p=j;

}

}

l=p*10;



if(min>25)

{


}


delay(300);


min=500;

}

flag=0;

{







cm = duration/29/2;

Serial.print(cm);


delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

if(cm<20)

{



flag=1;

break;

}

if(cm>=20 && cm<500)

{




delay(300);

analogWrite(Mp1,0);

analogWrite(Mp2,0);

}

break;

}

break;

}

/*Left Turn Completion Detection Algorithm[LTCDA]*/

case 8:{

for(int i=0,j=0;i<90;i=i+10,j++)

{

n.write(i);

delay(500);

{







cm = duration/29/2;

Serial.print(cm);

Serial.println("cm case :0 { TT1 }");

delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

tt[j]=cm;

}

n.write(90);

delay(1000);


{

if(min>tt[j])

{

min=tt[j];

p=j;

}

}

r=p*10;



if(min>25)

{


}


delay(300);


min=500;

}

if(p==0)

{

for(int y=0;y<1;y++)

{

for(int i=0,j=0;i<90;i=i+10,j++)

{

n.write(i);

delay(500);

{







cm = duration/29/2;

Serial.print(cm);

Serial.println("cm case :0 { TT1 }");

delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

tt[j]=cm;

}

n.write(90);

delay(1000);


{

if(min>tt[j])

{

min=tt[j];

p=j;

}

}

r=p*10;



if(min>25)

{


}


delay(300);


min=500;

}

flag=0;

{







cm = duration/29/2;

Serial.print(cm);


delay(50);

if(cm==0)

{







cm = duration/29/2;

Serial.print(cm);


}

}

if(cm<20)

{



flag=1;

break;

}

if(cm>=20 && cm<500)

{




delay(100);

analogWrite(Mp1,0);

analogWrite(Mp2,0);

}

break;

}

}

}

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