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OBSTACLE DETECTION/BLUETOOTH
CONTROLLED CAR
EE Semester 2
Section -B
Group Memers
NAME Ro!! Numer
AHMED RA"A MEHMOOD EE-##$$
ABU"AR RI"%I EE-##22
M &OUSHA EE-##$'
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The project has basically two diferent unctions:
1- Obstacle avoidance2- Bluetooth controlling
However due to lac! o technical e"perience we were unable to i#ple#ent
both o unctions together we can operate our car on only one o the above
unctions$Both unctions have their respective advantages and disadvantages so the
purpose it is to use this in diferent environ#ent where on unction ails to
use %or e"a#ple in public area obstacle detector car would not be easible
because the #ove#ent o person would cause the detector to read the data$&and the situations where there is no obstacle in the straight path and we
would be giving signals ro# the Bluetooth this would not be efective
because there would not be any need to #anually operate or such scenario$
COM(ONENTS USED IN THE (RO)ECT
1- ARDUINO UNO
The 'no is a #icrocontroller board based on the (T#ega)2*+$ ,t has 1
digital input.output pins %o which / can be used as +0 outputs& / analog
inputs a 1/ H 3uart crystal a '4B connection a power jac! an ,54+
header and a reset button$ ,t contains everything needed to support the
#icrocontroller6 si#ply connect it to a co#puter with a '4B cable or power it
with a (5-to-75 adapter or battery to get started$
http://www.atmel.com/images/Atmel-8271-8-bit-AVR-Microcontroller-ATmega48A-48PA-88A-88PA-168A-168PA-328-328P_datasheet_Complete.pdfhttp://www.atmel.com/images/Atmel-8271-8-bit-AVR-Microcontroller-ATmega48A-48PA-88A-88PA-168A-168PA-328-328P_datasheet_Complete.pdf
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2- BLUETOOTH MODULE HC-05
H5-89 #odule is an easy to use Bluetooth 4++ %4erial +ort +rotocol& #odule
designed or transparent wireless serial connection setup$
4erial port Bluetooth #odule is ully 3ualied Bluetooth ;2$8 %=nhanced7ata >ate& )bps odulation with co#plete 2$?H radio transceiver andbaseband$ ,t uses 54> Bluecore 8-="ternal single chip Bluetooth syste#with 5O4 technology and with (@H%(daptive @re3uency Hopping @eature&$ ,thas the ootprint as s#all as 12$A##"2A##
4pecications
H*r+,*re e*tures
• Typical -*8dB# sensitivity
• 'p to @ trans#it power
• ow +ower 1$*; Operation 1$* to )$/; ,.O
• +,O control
• '(>T interace with progra##able baud rate
• 0ith integrated antenna
• 0ith edge connector
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3- L298N MOTOR DRIVER
The 2C* is an integrated #onolithic circuit in a 19- lead ultiwatt and
+ower4O28 pac!ages$ ,t is a high voltage high current dual ull-
bridge driver de- signed to accept standard TT logic levels and drive
inductive loads such as relays solenoids 75 and stepping #otors$
@ollow the steps below to congure the #otor controller board to wor! as atypical robot #otor driver or use with two 75 #otors$
1$ (ttach your robotDs #otors to the green otor ( and otor B screwter#inals$
2$ 5onnect the =E( and =EB to +0 capable digital outputs on yourrobotDs #icrocontroller$
)$ 5onnect the ,E1 2 ) and pins to any digital outputs your robotDs#icrocontroller$
$ (pply 9-1/; to the board by connecting positive %
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4- ULTRASONIC SENSOR HC-SR04
The H5-4>8 ultrasonic sensor uses sonar to deter#ine distance to an objectli!e bats do$ ,t ofers e"cellent non-contact range detection with highaccuracy and stable readings in an easy-to-use pac!age$ @ro# 2c# to 88c# or 1F to 1) eet$ ,t operation is not afected by sunlight or blac! #aterialli!e 4harp rangenders are %although acoustically sot #aterials li!e clothcan be diGcult to detect&$ ,t co#es co#plete with ultrasonic trans#itter andreceiver #odule$
e*tures• +ower 4upply :anging 7istance : 2c# K 88 c#.1L K 1)t
• >esolution : 8$) c#
• easuring (ngle: )8 degree
• Trigger ,nput +ulse width: 18u4
• 7i#ension: 9## " 28## " 19##
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(ins
• ;55:
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FOR BLUETOOTH CONTROLLED SYSTEM
FOR OBSTACLE DETECTION SYSTEM
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(ROGRAMMING
CODE OR BLUETOOTH CONTROLLED S&STEM
MincludeI4otware4erial$hN
int trig)6
int echo26
int in1C6
int in2186
int in)96
int in/6
int =n(*6
int =nBA6
int led1)6
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int ,B86
void setup%&P
4erial$begin%C/88&6
pinode%in1O'T+'T&6
pinode%in2O'T+'T&6
pinode%in)O'T+'T&6
pinode%inO'T+'T&6
pinode%trigO'T+'T&6
pinode%echo,E+'T&6
pinode%ledO'T+'T&6
pinode%=n(O'T+'T&6
pinode%=nBO'T+'T&6
Q
void loop%&P
i%4erial$available%&N8&P
,B4erial$read%&6Q
switch%,B&
P
case R@R:
P#oveSorward%&6Q
brea!6
case RBR:
P#oveSbac!ward%&6Q
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brea!6
case R>R:
P#oveSright%&6Q
brea!6
case RR:
P#oveSlet%&6Q
brea!6
case R4R:
Pstoprobo%&6Q
brea!6
Q
Q
void #oveSorward%&P
analog0rite%=n(299&6
digital0rite%in1H,?H&6
digital0rite%in2O0&6
analog0rite%=nB299&6
digital0rite%in)H,?H&6
digital0rite%inO0&6
4erial$println%@O>0(>7&6
Q
void #oveSbac!ward%&P
analog0rite%=n(299&6
digital0rite%in1O0&6
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digital0rite%in2H,?H&6
analog0rite%=nB299&6
digital0rite%in)O0&6
digital0rite%inH,?H&6
4erial$println%B(5U0(>7&6
Q
void #oveSlet%&P
analog0rite%=n(8&6
digital0rite%in1O0&6
digital0rite%in2O0&6
analog0rite%=nB1*8&6
digital0rite%in)H,?H&6
digital0rite%inO0&6
4erial$println%=@T&6
Q
void #oveSright%&P
analog0rite%=n(1*8&6
digital0rite%in1H,?H&6
digital0rite%in2O0&6
analog0rite%=nB8&6
digital0rite%in)O0&6
digital0rite%inO0&6
4erial$println%>,?HT&6
Q
void stoprobo%&P
analog0rite%=n(8&6
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digital0rite%in1O0&6
digital0rite%in2O0&6
analog0rite%=nB8&6
digital0rite%in)O0&6
digital0rite%inO0&6
4erial$println%4TO+&6
Q
CODE OR OBSTACLE DETECTION
int trig)6
int echo26
int in196
int in2/6
int in)A6
int in*6
int =n(6
int =nBC6
void setup%&P
4erial$begin%C/88&6
pinode%in1O'T+'T&6
pinode%in2O'T+'T&6
pinode%in)O'T+'T&6
pinode%inO'T+'T&6
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pinode%trigO'T+'T&6
pinode%echo,E+'T&6
pinode%=n(O'T+'T&6
pinode%=nBO'T+'T&6
Q
void loop%&P
long distanceduration6
long rdistanceldistance6
#oveSorward%&6
digital0rite%trig O0&6 .. (dded this line
delayicroseconds%2&6 .. (dded this line
digital0rite%trig H,?H&6
delayicroseconds%18&6 .. (dded this line
digital0rite%trig O0&6
durationpulse,n%echoH,?H&6
distanceduration.9*6
4erial$print%distance : &6
4erial$println%distance&6
i%distanceI)8&P .. chec!s whether there is an obstacle in the specied range$
stoprobo%&6
delay%1888&6
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#oveSright%&6
delay%988&6
stoprobo%&6
delay%988&6
Q
else P
#oveSorward%&6
Q
Q
..@unction declaration
void #oveSorward%&P
analog0rite%=n(299&6
digital0rite%in1H,?H&6
digital0rite%in2O0&6
analog0rite%=nB299&6
digital0rite%in)H,?H&6
digital0rite%inO0&6
4erial$println%@O>0(>7&6
Q
void #oveSbac!ward%&P
analog0rite%=n(299&6
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digital0rite%in1O0&6
digital0rite%in2H,?H&6
analog0rite%=nB299&6
digital0rite%in)O0&6
digital0rite%inH,?H&6
4erial$println%B(5U0(>7&6
Q
void #oveSlet%&P
analog0rite%=n(8&6
digital0rite%in1O0&6
digital0rite%in2O0&6
analog0rite%=nB1*8&6
digital0rite%in)H,?H&6
digital0rite%inO0&6
4erial$println%=@T&6
Q
void #oveSright%&P
analog0rite%=n(1*8&6
digital0rite%in1H,?H&6
digital0rite%in2O0&6
analog0rite%=nB8&6
digital0rite%in)O0&6
digital0rite%inO0&6
4erial$println%>,?HT&6
Q
void stoprobo%&P
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analog0rite%=n(8&6
digital0rite%in1O0&6
digital0rite%in2O0&6
analog0rite%=nB8&6
digital0rite%in)O0&6
digital0rite%inO0&6
4erial$println%4TO+&6
Q