Collision_avoidance_robot.ino

/*HELLO EVERYBOBY I AM NIKHIL G MUDAKAVI
IF YOU HAVE SOME KNOWLEDGE ABOUT ARDUIINO YOU CAN ALOS MAKE THIS ROBOT WITHIN FEW HOURS
******I FIXED MY SERVO IN SUCH A MANNER SUCH THAT 180 DEGREE ANGLE OF MY SERVO LIES IN THE LEFT AND RIGHT POSITION IS AT ZERO DEGREE******
YOU 
THE CONNECTIONS ARE AS FOLLOWS(ALL  MY PINS ON THE SHIELD ARE CONNECTED TO CORRESPONDING PINS ON THE ARDUINO)
MY SERVO WENT INTO PIN 11 OF MY SHIELD
INFRARED SENSOR ON PIN 3
PIN 8,6 12 ARE FOR MY RIGHT MOTOR
PIN 4 ,7,5 ARE FOR MY LEFT MOTOR
THE CODE IS ALMOST SELF EXPLANATORY
*/




#include <Servo.h>  //sevo library
int x;              
int pos;            
Servo myservo;   

void setup() {
  myservo.attach(11);  //attaching my servo to pin to 11 on my board
  pinMode(3,INPUT);    //setting pin mode for my infrared sensor
  pinMode(8,OUTPUT);   //setting up pins up for my left motor
  pinMode(12,OUTPUT);  //  ''
  pinMode(6,OUTPUT);   //''
  pinMode(7,OUTPUT);   //setting up pins for my right motor
  pinMode(4,OUTPUT);   //''
  pinMode(5,OUTPUT);   //''
  digitalWrite(6,HIGH); //starting the motors in the beginning
  digitalWrite(5,HIGH); //starting the motors in the begininig
  
  
}

void loop() 
{
 myservo.write(90);     //setiing up 90 degree position in my servo that is the forward direction
 delay(1350);           //giving the servo time to reach the desired position
 if(digitalRead(3)==0)  //if the infrared sensor shows no obstacle in front
 {                        //then
   digitalWrite(12,HIGH);//the next four lines are for moving the robot forward
  digitalWrite(8,LOW);
  digitalWrite(4,HIGH);
  digitalWrite(7,LOW); 
   for (pos = 90; pos <= 120; pos += 1)//moving the eyes of the robot (to give it a moving eye effect) this for moving the eyes in the left,you have to alter the angles according to you
   { 
    myservo.write(pos);            
    delay(15);                     
  }
  for (pos = 120; pos >= 60; pos -= 1)//moving the eyes of the robot (to give it a moving eye effect) this for moving the eyes in the right,you have to alter the angles acoording to you
  {
    myservo.write(pos);              
    delay(15);                       
  }
 }
 if(digitalRead(3)==1)   //if the infrared sensor tells that there is a obstacle in front
 {                        //then the next 4 line tells the motors to stop
  digitalWrite(12,LOW);
  digitalWrite(8,LOW);
  digitalWrite(4,LOW);
  digitalWrite(7,LOW);
  delay(15);
 myservo.write(180);      //this moves the servo to the left 
 delay(1350);             //time given to the servo to move to that positon
 if(digitalRead(3)==0)    //then in the left position the avaailbility of the object is again checked(0 mean no obastacle)
 {                        //then the next four lines tell the robot to move left
  digitalWrite(12,HIGH);   
  digitalWrite(8,LOW);
  digitalWrite(4,LOW);
  digitalWrite(7,HIGH);  
  delay(150); 
 }
 else                      //if in the left position also there is a obsatcle then the eyes are moved to the right
 {
 myservo.write(0);          //angle 0 in the servo means moving the eyes the to the right
 delay(2700);
 if(digitalRead(3)==0)      //in the right positon the presence of the object is checked, if there is a no object present
 {                          //then the following four lines move the robot to the right
  digitalWrite(12,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(4,HIGH);
  digitalWrite(7,LOW);  
  delay(150);     
 }
 else                      //if there is a obstaclemin the right too
 {
  myservo.write(90);       // then the eyes of the robot are moved back to the initial position thet is straight(and for me 90degree)
  delay(1350);             //time given to the servo to move to that positionand the following four lines moves the robot backwards
  digitalWrite(12,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(4,LOW);
  digitalWrite(7,HIGH);
  delay(350); 
 }
   myservo.write(180);      //while moving backwards the servo eyes are moved to the left
 delay(2700);               //time goven to the servo tho move to that position
 if(digitalRead(3)==0)      // while moving backwards  the left position the presence of the obstacle is again checked,when there is no object in the left
                            //then the next four lines move the robot to the left 
 {
  digitalWrite(12,HIGH);
  digitalWrite(8,LOW);
  digitalWrite(4,LOW);
  digitalWrite(7,HIGH);  
  delay(150); 
 }
 else
 {
 myservo.write(0);         //if while moving backwards there is a  object in the left then the eyes are moved to the right
 delay(2700);              //time given to the dervo to move to that position
 if(digitalRead(3)==0)     //the presence of object is checked and if there is not object then following four lines move the robot in the right
 {
  digitalWrite(12,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(4,HIGH);
  digitalWrite(7,LOW);  
  delay(150);     
 }
 }
 }
 }
}