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MakerRobotics
Published

Arduino robot PoliArdo - Maze solver

This robot took part in a competition and solved the maze.

AdvancedProtip2 days25,044
Arduino robot PoliArdo - Maze solver

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×2
ultrasonic sensor
×2
zumo arduino
×1
color sensor
×1
DC motor (generic)
×2

Software apps and online services

Arduino IDE
Arduino IDE

Hand tools and fabrication machines

laser

Story

Read more

Custom parts and enclosures

SolidWorks model Robot

SolidWorks model Robot

Schematics

version robot 1

Code

Code arduino robot

Arduino
arduino board uno its shield arduino zumo control ultrasonic sensors and motors.
#include <ZumoMotors.h>
#include <ZumoBuzzer.h>
#include <Pushbutton.h>

ZumoBuzzer buzzer;
ZumoMotors motor;
Pushbutton button(ZUMO_BUTTON);
int  f=83.5/80;
int thigD=A2;
int ehcoD=A3;
int thigL=A4;
int ehcoL=A5;
long distancaL,distancaD;
long distanca,trajanje;
int signal=2;

void setup(){
  Serial.begin(9600);
  pinMode(thigL,OUTPUT);
  pinMode(ehcoL,INPUT);
  pinMode(thigD,OUTPUT);
  pinMode(ehcoD,INPUT);
  pinMode(signal, INPUT);  
  button.waitForButton();
  buzzer.play("L16 cdegreg4");
  while(buzzer.isPlaying());
  
  distancaD=izracunaj(thigD,ehcoD);
  DesniZid();
  okretDesno();
  
  distancaL=izracunaj(thigL,ehcoL);
  LeviZid();
  okretLevo();
  
  distancaD=izracunaj(thigD,ehcoD);
  DesniZid();
  okretDesno();
  
  distancaL=izracunaj(thigL,ehcoL);
  Prati_Levi_zid();
   
   motorSTOP();
}
void loop(){
}
void motorSTOP(){
  motor.setSpeeds(0,0); 
  delay(500);
}
int izracunaj(int thig,int ehco){
  
  digitalWrite(thig,LOW);
  delayMicroseconds(2);
  digitalWrite(thig,HIGH);
  delayMicroseconds(10);
  digitalWrite(thig,LOW);
  trajanje=pulseIn(ehco,HIGH);
  distanca=(trajanje/2)/29; 
  return (distanca);
}
void DesniZid(){
   while(distancaD < 27){
    distancaD=izracunaj(thigD,ehcoD);
     
    if(distancaD <=11 && distancaD >=9){
                 motor.setSpeeds(83.5,80); }
    else if (distancaD >=15){
           motor.setSpeeds(165,55); 
           delay(15); }
    else if(distancaD <9){
           motor.setSpeeds(55,100); 
           delay(10); }
    else if(distancaD >11 && distancaD < 15){
             motor.setSpeeds(100,65); 
             delay(10); }
  }
  
}
void LeviZid(){
  while(distancaL < 27){
     distancaL=izracunaj(thigL,ehcoL);
     
    if(distancaL <=11 && distancaL >=9){
             motor.setSpeeds(83.5,80);
             delay(10); }
    else if (distancaL >=15){
              motor.setSpeeds(55,165); 
              delay(15); }
    else if(distancaL <9){
              motor.setSpeeds(100,55); 
              delay(10); }
    else if(distancaL >11 && distancaL < 15){
              motor.setSpeeds(65,100); 
              delay(10); }
  }
  
}
void Prati_Levi_zid(){
    while(1){
      distancaL=izracunaj(thigL,ehcoL);
      if(digitalRead(signal)==HIGH){motor.setSpeeds(0,0); delay(50000);}
      if(distancaL <=11 && distancaL >=9){
            motor.setSpeeds(83.5,80);
            delay(10); }
      else if (distancaL >=15){
            motor.setSpeeds(75,165); 
            delay(15); }
      else if(distancaL <9){
            motor.setSpeeds(100,72); 
            delay(10); }
      else if(distancaL >11 && distancaL < 15){
            motor.setSpeeds(80,100); 
            delay(10); }
  }
}
void okretDesno(){
   motorSTOP();
   motor.setSpeeds(90*f,90); 
   delay(1900);
   motorSTOP();
   motor.setSpeeds(100,-100); 
   delay(1000);
   motorSTOP();
   motor.setSpeeds(90*f,90); 
   delay(4000);
   motorSTOP();
   motor.setSpeeds(100,-100); 
   delay(1000);
   motorSTOP();
  
}
void okretLevo(){
  motorSTOP();
  motor.setSpeeds(90*f,90); 
  delay(1700);
  motorSTOP();
  motor.setSpeeds(-100,100); 
  delay(1000);
  motorSTOP();
  motor.setSpeeds(90*f,90); 
  delay(4000);
  motorSTOP();
  motor.setSpeeds(-100,100); 
  delay(1000);
  motorSTOP();
  
}

Code arduino robot

Arduino
for arduino board with speaker and color sensor
#include <Wire.h> 
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE);
#define NOTE_CS8 4435
#define NOTE_B6  1976
int melody[] = {NOTE_CS8,NOTE_B6};
int noteDurations[] = {8,8};
const int s0 = A3;  
const int s1 = A4;  
const int s2 =A1;  
const int s3 = A2;  
const int out = A0;
int signal=7;
int ind=0;
int red = 0;  
int green = 0;  
int blue = 0;
int brojac=0;

void setup(){
  Serial.begin(9600);
 
  pinMode(s0, OUTPUT);  
  pinMode(s1, OUTPUT);  
  pinMode(s2, OUTPUT);  
  pinMode(s3, OUTPUT);  
  pinMode(out, INPUT);   
  digitalWrite(s0, HIGH);  
  digitalWrite(s1, HIGH); 
   pinMode(signal, OUTPUT);  
  lcd.begin(16,2);   
  lcd.backlight();
  lcd.clear();
  lcd.setCursor(0,0); 
  lcd.print("ARDUINO TEAM");
 
}
void loop(){
  if(ind==0){
  color();
  
  delay(200);
 
   if (red < blue && red < green && red < 20)
  {  
      if (!(red <=10 && green <=10 && blue <=10)){
              delay(70);
              brojac++;
              lcd.setCursor(5,1);
              lcd.print(brojac);
     for (int thisNote = 0; thisNote < 1; thisNote++) {
    int noteDuration = 1000/noteDurations[thisNote];
    tone(8, melody[thisNote],noteDuration);
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
     noTone(8);
  }
}
    }
  
              
    if ((red > 40 && red <80) && (green >20 && green <45) && (blue >0 && blue <20))   
  {  
    if (!(red <=10 && green <=10 && blue <=10)){
    for (int thisNote = 0; thisNote < 2; thisNote++) {
    int noteDuration = 1000/noteDurations[thisNote];
    tone(8, melody[thisNote],noteDuration);
    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
     noTone(8);
     ind++;
  }
   digitalWrite(signal,HIGH);
      }
      else digitalWrite(signal,LOW);
  }
  }     
  }
  

void color()  
{    
  digitalWrite(s2, LOW);  
  digitalWrite(s3, LOW);  
  red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);  
  digitalWrite(s3, HIGH);  
  blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);  
  digitalWrite(s2, HIGH);  
  green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);  
}

Credits

MakerRobotics
6 projects • 134 followers

Comments

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