Published November 21, 2018 © GPL3+

Arduino-Based Butler Robot

It's an Arduino-based robot which brings food from the kitchen to my room.

BeginnerFull instructions provided4,368

Things used in this project

Hardware components

Arduino UNO

HC-05 Bluetooth Module

SparkFun Full-Bridge Motor Driver Breakout - L298N

Ultrasonic Sensor - HC-SR04 (Generic)

UTSOURCE Electronic Parts

everything above can be found here for a low price

Story

I wanted to create a robot that could bring snacks and all sorts of food items from the kitchen to my room, so I took few parts (aluminum channel and sheet) and combined them together to make this easy but working "butler robot."

Thanks UTSOURCE.net to offer electronic components for this project!

you can check UTSOURCE.net, they deal in all kinds of electronic components, for example, Arduino board, motor driver, and many more.

Watch the video!

Code

Untitled file

int motorLpin1 = 2;
int motorLpin2 = 3; 
int motorRpin1 = 4;
int motorRpin2 = 5;
int rightMotorENA = 6;
int leftMotorENB = 9;



int motorSpeed = 255;
int turn=50;
void setup()
{
  Serial.begin(9600);
  Serial.flush();
  pinMode(motorLpin1,OUTPUT);
  pinMode(motorLpin2,OUTPUT);
  pinMode(motorRpin1,OUTPUT);
  pinMode(motorRpin2,OUTPUT);
  pinMode(rightMotorENA,OUTPUT);
  pinMode(leftMotorENB,OUTPUT);

}

void loop(){
  String input="";
  while(Serial.available()){
    input+=(char)Serial.read();
    delay(5);
  }
    
  if(input=="n"){
    MotorStop();
  }
  else if(input=="F"){
    MotorForward();
  }
  else if(input=="R"){
    MotorBackward();
  }
  else if(input=="TL"){
    MotorLeft();
  }
  else if(input=="TR"){
    MotorRight();
  }
  
  else if(input=="RR"){
    rightRight();
  }
  
  else if(input=="M"){
    StraightStraight();
  }

 
 
}

void MotorForward(void)
{
  digitalWrite(motorLpin1,HIGH);
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
}

void MotorBackward(void)
{
  
  digitalWrite(motorLpin1,LOW);
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,LOW);
  digitalWrite(motorRpin2,HIGH);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);  
}
void MotorLeft(void)
{
  digitalWrite(motorLpin1,HIGH);
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,LOW);
  digitalWrite(motorRpin2,HIGH);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
}
void MotorRight(void)
{
 
  digitalWrite(motorLpin1,LOW);
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255); 
}
void MotorStop(void)
{
  
  digitalWrite(motorLpin1,LOW);
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,LOW);
  digitalWrite(motorRpin2,LOW);
  digitalWrite(leftMotorENB,LOW);
  digitalWrite(rightMotorENA,LOW);
}




void rightRight(void){
  
  digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(600);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(600);
}

void StraightStraight (void){
  
  digitalWrite(motorLpin1,HIGH); //staright
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(100);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,HIGH); //straight
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500); 

  digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(100);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,HIGH); //straight
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

   digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(100);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,HIGH); //straight
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500); 

  digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(100);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,HIGH); //straight
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

    digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(100);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,HIGH); //straight
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500); 

  digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(100);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,HIGH); //straight
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

   digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(100);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,HIGH); //straight
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500); 

  digitalWrite(motorLpin1,LOW);   //turn right 
  digitalWrite(motorLpin2,HIGH);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(100);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);

  digitalWrite(motorLpin1,HIGH); //straight
  digitalWrite(motorLpin2,LOW);
  digitalWrite(motorRpin1,HIGH);
  digitalWrite(motorRpin2,LOW);
  analogWrite(leftMotorENB,255);
  analogWrite(rightMotorENA,255);
  delay(4000);
  analogWrite(leftMotorENB,LOW);
  analogWrite(rightMotorENA,LOW);
  delay(500);  
}