dedi74132
Published © GPL3+

Line Follower Using Servo, RFID and Ultrasonic Sensor

Build a line follower robot using Arduino Uno with a continuous servo as a motor, and RFID to tag point and stop LF and ping sensor.

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Line Follower Using Servo, RFID and Ultrasonic Sensor

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×1
RobotGeek Continuous Rotation Servo
RobotGeek Continuous Rotation Servo
×1
RGB Backlight LCD - 16x2
Adafruit RGB Backlight LCD - 16x2
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1

Story

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Code

ROBOT_LF

Arduino
main program of LF
// LCD
#include <LiquidCrystal_I2C.h>
#include <Servo.h>
#include <SPI.h>
#include <MFRC522.h>
LiquidCrystal_I2C lcd(0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE);

#define RST_PIN         9           // Configurable, see typical pin layout above
#define SS_PIN          10          // Configurable, see typical pin layout above

int pin1 = 3;
int pin2 = 5;
const int stop_position = 100; 
const int velocity_high = 85;
const int velocity_med = 55;
const int velocity_slow = 25;
const int buzzerPin = 8;

Servo servo_kiri;
Servo servo_kanan;

// FUNCTION
#define MAX 5
int top = -1;
int status;
int a = 10;
bool full = false;

// SENSOR
const int sensorPin1 = A0;
const int sensorPin2 = A1;
const int sensorPin3 = A2;
const int sensorPin4 = A3;
int interupt_status = 0;
int is_home = 0;
unsigned char data1,data2,data3,data4;
unsigned char sensor,batas,xsensor,xstatus;
unsigned char trackWarnaPutih;
unsigned char  trackMode = 0, batasEE = 100;
#define   lurus         0
#define   tikunganKiri  1
#define   tikunganKanan 2

void setup() {
  Serial.begin(9600);
  lcd_setup();
  ping_setup();  
  rfid_setup();
  motor_setup();
}

void loop() {
 // motor_maju(2);
  drawLCD();  
  if(is_home==0){
    ping_loop();
    if(interupt_status == 0){
        readSensor();
        rfid_scan();
    }else if(interupt_status == 1){
      motor_stop();
      buzzer();
      interupt_status = 0;
    }else{
      motor_stop();
      buzzer();
    }
  }else{
    motor_stop2;
  }    
}

LCD

Arduino
LCD CODE
String menuItems[] = {" Start", " (+)Jurusan", " (-)Jurusan"};
String menuJurusan[] = {"MESIN", "ELEKTRO", "INFORMATIKA", "INDUSTRI", "SIPIL", "ARSITEK", "BATAL"};
int ledPin = 13; // choose the pin for the LED
int inPin1 = 7;   // choose the input pin (for a pushbutton)
int inPin2 = 6;   // choose the input pin (for a pushbutton)
int val = 0;     // variable for reading the pin status

void lcd_setup() {
  lcd.begin(16,2);
  lcd.clear();
  pinMode(inPin1, INPUT);
  pinMode(inPin2, INPUT);
}

void drawLCD() {
  if(digitalRead(inPin1)==HIGH) {
    digitalWrite(inPin1, LOW);
    lcd.clear();
    Serial.println("HOME");
    lcd.print("HOME");
    motor_stop();
    is_home = 1;
    motor_stop();
  }else if(digitalRead(inPin2)==HIGH) {
    digitalWrite(inPin1, LOW);
    lcd.clear();
    Serial.println("INTERUPT TO START");
    lcd.print("INTERUPT TO START");
    interupt_status == 1;
    is_home = 0;
    motor_stop();
  }
}

RFID

Arduino
RFID CODE, use MFRC522 LIBRARY
MFRC522 mfrc522(SS_PIN, RST_PIN);   // Create MFRC522 instance.

String read_rfid;
String rfid_card[] = {"fa8d56f9", "9a775af9", "ca8a55f9", "424a7cd2", "ea748af9", "4a8229f9"};
String sekjur[] = {"MESIN", "ELEKTRO", "INFORMATIKA", "INDUSTRI", "SIPIL", "ARSITEK"};

/*
   Initialize.
*/
void rfid_setup() {
  SPI.begin();                // Init SPI bus
  mfrc522.PCD_Init();         // Init MFRC522 card
}

/*
   Helper routine to dump a byte array as hex values to Serial.
*/
void dump_byte_array(byte *buffer, byte bufferSize) {
  read_rfid = "";
  for (byte i = 0; i < bufferSize; i++) {
    read_rfid = read_rfid + String(buffer[i], HEX);
  }
}

void rfid_scan() {

  // Look for new cards
  if ( ! mfrc522.PICC_IsNewCardPresent()){
    readSensor();
  }

  // Select one of the cards
  if ( ! mfrc522.PICC_ReadCardSerial()){
    readSensor();
  }
  
  dump_byte_array(mfrc522.uid.uidByte, mfrc522.uid.size);
  Serial.println(read_rfid);
  for (int x = 0; x < 6; x++) {
    if(read_rfid == "8a4098f9"){
        lcd.clear();
        lcd.print("HOME");    
        is_home = 1;
        motor_stop2();
        buzzer();
    }else{      
      if (read_rfid == rfid_card[x]) {
        buzzer();
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Surat Terkirim");
        lcd.setCursor(0, 1);
        lcd.print("SEKJUR ");
        lcd.print(sekjur[x]);
        interupt_status = 1;
      } 
    }

  }
}

SENSOR

Arduino
IR Sensor i use modeul 4 sensor IR
void motor_setup() {
  servo_kiri.attach(pin1);
  servo_kanan.attach(pin2);
}

void buzzer(){
  tone(buzzerPin, 3000);
  delay(500);  
  noTone(buzzerPin);
}

void motor_maju(int speed) {
  if(speed==1) {
     speed = velocity_high;
  } else if(speed==2) {
     speed = velocity_med;
  } else {
     speed = velocity_slow;
  }
  
  servo_kiri.write(stop_position - speed -5);
  servo_kanan.write(stop_position + speed -10);
}

void motor_mundur(int speed) {
  if(speed==1) {
     speed = velocity_high;
  } else if(speed==2) {
     speed = velocity_med;
  } else {
     speed = velocity_slow;
  }
  
  servo_kiri.write(stop_position + speed -5);
  servo_kanan.write(stop_position - speed -10);  
}

void belok_kanan(int speed) {
  if(speed==1) {
     speed = velocity_high;
  } else if(speed==2) {
     speed = velocity_med;
  } else {
     speed = velocity_slow;
  }
  
  servo_kiri.write(stop_position - speed -5);
  servo_kanan.write(stop_position - speed -10);
}

void belok_kanan_patah(int speed) {
  if(speed==1) {
     speed = velocity_high;
  } else if(speed==2) {
     speed = velocity_med;
  } else {
     speed = velocity_slow;
  }
  servo_kiri.write(stop_position - speed -5);
  servo_kanan.write(stop_position -10);
}

void belok_kiri(int speed) {
  if(speed==1) {
     speed = velocity_high;
  } else if(speed==2) {
     speed = velocity_med;
  } else {
     speed = velocity_slow;
  }
  
  servo_kiri.write(stop_position + speed -5);
  servo_kanan.write(stop_position + speed -10);  
}

void belok_kiri_patah(int speed) {
  if(speed==1) {
     speed = velocity_high;
  } else if(speed==2) {
     speed = velocity_med;
  } else {
     speed = velocity_slow;
  }
  
  servo_kiri.write(stop_position -5);
  servo_kanan.write(stop_position + speed -10);  
}

void motor_stop() {
  servo_kiri.write(stop_position - 5);
  servo_kanan.write(stop_position - 10);
}

void motor_stop2() {
  servo_kiri.write(stop_position - 5);
  servo_kanan.write(stop_position - 5);
}

void readSensor() {
  xsensor = sensor;
  sensor = 0;
  trackWarnaPutih = trackMode;
  batas = batasEE;

  data1 = analogRead(sensorPin1);
  data2 = analogRead(sensorPin2);
  data3 = analogRead(sensorPin3);
  data4 = analogRead(sensorPin4); 
  
  if (data1>batas) sensor |= 0x01;
  if (data2>batas) sensor |= 0x02;
  if (data3>batas) sensor |= 0x04;
  if (data4>batas) sensor |= 0x08;

  lcd.setCursor(0,1);
  
   if (trackWarnaPutih) {
     sensor = sensor ^ 0x0F;      
   } 
   if(sensor == 0x01) {    
    // hasil pembacaan sensor "0001" -> track berada di ujung kanan sensor      
      belok_kanan(1);
      Serial.print("0001");
      lcd.print("Pengiriman Surat");
   }
   else if (sensor == 0x03) {    
    // hasil pembacaan sensor "0011" -> track berada di ujung kanan sensor      
      belok_kanan(1);
      Serial.print("0011");
      lcd.print("Pengiriman Surat");
   }
   else if (sensor == 0x06) {
      // hasil pembacaan sensor "0110" -> track tepat berada di tengah   
      motor_maju(3);
      Serial.print("0110");
      lcd.print("Pengiriman Surat");
   }
   else if (sensor == 0x07) {
      // hasil pembacaan sensor "0111" -> track tepat berada di tengah   
      belok_kanan(1);
      Serial.print("0111");
      lcd.print("Pembacaan Sensor");
   }
   else if (sensor == 0x08) {
      // hasil pembacaan sensor "1000" -> track berada di ujung kiri sensor
      belok_kiri(1);
      Serial.print("1000");
      lcd.print("Pengiriman Surat");
   }
   else if (sensor == 0x0C) {
      // hasil pembacaan sensor "1100" -> track berada di ujung kiri sensor
      belok_kiri(1);
      Serial.print("1100");
      lcd.print("Pengiriman Surat");
   }
   else if (sensor == 0x0E) {
      // hasil pembacaan sensor "1110" -> track berada di ujung kiri sensor
      belok_kiri(1);
      Serial.print("1110");
      lcd.print("Pengiriman Surat");
   }
   else if ((sensor == 4001) || (sensor == 2001) || (sensor == 2100)|| (sensor == 5110)) {
      belok_kanan(1);
   }else{
      motor_maju(3);
   }
}

ULTRASONIC

Arduino
Ultrasonic / Ping Sensor
#define trigPin 4
#define echoPin 2

void ping_setup() {
  Serial.begin (9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
}

void ping_loop() {
  int duration, distance;
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(1000);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = (duration/2) / 29.1;

  if (distance > 5 || distance <= 0){
    noTone(buzzerPin);
  }
  else {
    Serial.println("object detected");
    motor_stop();
    tone(buzzerPin, 5000); // play 400 Hz tone for 500 ms
    delay(10);
  }
}

Credits

dedi74132
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