How to make a simple obstacle-avoiding robot by nodeMCU?
Component required:-
1.NodeMCU Board https://amzn.to/3TyqGaw
2.L298N Motor Driver Module https://amzn.to/3DhxIuT
3.12v DC Gear Motor https://amzn.to/3SlTXDW
4.12v (1.3Amp) Lithium Ion Battery https://amzn.to/3F1RICX
5.HC-SR04 https://amzn.to/3SQNuBo
6. Micro Servo Motor https://amzn.to/3FtD8o3
7. Arduino Jumper wire https://amzn.to/3TAziwY
8. Chassis https://amzn.to/3zr3ZNC
Schematic Diagram:-
1.HC-SR04 Ultrasonic sensor Connection to Nodemcu:-
2. Servo Motor Connection to Nodemcu:-
.png "Servo motor connection to nodemcu")
Code:-
//Obstacle Avoiding Robot
#include <Servo.h>
#define In1 16 //D0
#define In2 5 //D1
#define In3 4 //D2
#define In4 0 //D3
#define TrigPin 14 //D5
#define EchoPin 12 //D6
#define servoPin 13 //D7
Servo myservo;
void setup()
{
Serial.begin(9600);
pinMode(In1,OUTPUT);
pinMode(In2,OUTPUT);
pinMode(In3,OUTPUT);
pinMode(In4,OUTPUT);
pinMode(TrigPin, OUTPUT);
pinMode(EchoPin, INPUT);
myservo.attach(servoPin);
myservo.write(115);
delay(2000);
}
void loop()
{
long duration, distance;
digitalWrite(TrigPin, LOW);
delayMicroseconds(2);
digitalWrite(TrigPin, HIGH);
delayMicroseconds(10);
digitalWrite(TrigPin, LOW);
duration = pulseIn(EchoPin, HIGH);
distance = (duration / 2) / 29.1;
Serial.print("CM=");
Serial.println(distance);
if(distance<=15)
{
Stop();
delay(100);
Backward();
delay(300);
Stop();
delay(200);
lookRight();
delay(200);
lookLeft();
delay(200);
TurnRight();
delay(850);
Stop();
delay(300);
}
else
{
Forward();
}
}
void lookRight()
{
myservo.write(50);
delay(500);
myservo.write(115);
}
void lookLeft()
{
myservo.write(170);
delay(500);
myservo.write(115);
}
void moveStop()
{
digitalWrite(In1, LOW);
digitalWrite(In2,LOW);
digitalWrite(In3, LOW);
digitalWrite(In4, LOW);
}
void Forward()
{
digitalWrite(In1,LOW);
digitalWrite(In2,HIGH);
digitalWrite(In3,LOW);
digitalWrite(In4,HIGH);
}
void Backward()
{
digitalWrite(In1,HIGH);
digitalWrite(In2,LOW);
digitalWrite(In3,HIGH);
digitalWrite(In4,LOW);
}
void TurnRight()
{
Serial.println("Turn right..");
digitalWrite(In1, LOW);
digitalWrite(In2, HIGH);
digitalWrite(In3, HIGH);
digitalWrite(In4, LOW);
}
void TurnLeft()
{
Serial.println("Turn left..");
myservo.write(180);
digitalWrite(In1, HIGH);
digitalWrite(In2, LOW);
digitalWrite(In3, LOW);
digitalWrite(In4, HIGH);
}
void Stop()
{
digitalWrite(In1, LOW);
digitalWrite(In2, LOW);
digitalWrite(In3, LOW);
digitalWrite(In4, LOW);
}
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