2 motor dc, servo, ultrasonic, lcd please help its not working

Projects General Guidance
1

Hi,

I'm newbie here. I'm making a tank robot with 2 motor dc, l298n, with 1 servo, 1 ultrasonic sensor, and lcd to display the distance. Here the code

#include <Servo.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>


// Motor DC
const int ENA = 10; 
const int IN1 = 7;   
const int IN2 = 6;  
const int ENB = 9;  
const int IN3 = 5;   
const int IN4 = 4;   

// Servo
Servo myServo;
const int servoPin = 13;

// Ultrasonic
const int trigPin = 12;  // Pin trig
const int echoPin = 11;  // Pin echo

// LCD
LiquidCrystal_I2C lcd(0x27, 16, 2); 

// Variabel distance
long duration;
int distance;

// Servo interval
unsigned long previousMillis = 0;
const long interval180 = 2000; // 2 s 180 degree
const long interval80 = 5000;  // 5 s 80 degree
bool servoAt180 = true;

void setup() {
  // Motor DC
  pinMode(ENA, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(ENB, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);

  // Ultrasonic
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  // Servo
  myServo.attach(servoPin);
  myServo.write(180); 

  // LCD
  lcd.begin(16, 2);
  lcd.backlight(); 
  lcd.setCursor(0, 0);
  lcd.print("Initializing...");
  delay(2000);
  lcd.clear();

  // Serial Monitor
  Serial.begin(9600);
}

void loop() {
  
  distance = getDistance();

  lcd.setCursor(0, 0);
  lcd.print("Jarak: ");
  lcd.print(distance);
  lcd.print(" cm   "); 
  lcd.setCursor(0, 1);
  lcd.print("               ");

 
  if (distance > 20) {
  
    moveMotors(true); 
    moveServoWithDelay(); 
  } else {
   
    stopMotors();
    myServo.write(80);
  }

  delay(100); 
}


int getDistance() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2; 
  Serial.print("distance: ");
  Serial.print(distance);
  Serial.println(" cm");
  return distance;
}


void moveMotors(bool forward) {
  if (forward) {

    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    analogWrite(ENA, 200); 

 
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, LOW);
    analogWrite(ENB, 200); 
  }
}


void stopMotors() {
 
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  analogWrite(ENA, 0);


  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
  analogWrite(ENB, 0);
}


void moveServoWithDelay() {
  unsigned long currentMillis = millis();

  if (servoAt180 && currentMillis - previousMillis >= interval180) {
    previousMillis = currentMillis; 
    myServo.write(80);            
    servoAt180 = false;
  } else if (!servoAt180 && currentMillis - previousMillis >= interval80) {
    previousMillis = currentMillis; 
    myServo.write(180);            
    servoAt180 = true;
  }
}

I am using 3x3,7 volt batteries for motor dc and arduino, and 2x3,7v batteries for servo, sensor and lcd. But it's not working

The DC motor and servo should move and will stop when the ultrasonic sensor detects an object at a distance of less than 20 cm. The lcd should display distance from ultrasonic sensor.

Untitled Sketch_bb
Untitled Sketch_bb1920×1092 132 KB

PLEASE HELP! THANKS

2

Welcome to the forum

Thank you for trying to use code tags but you got it wrong

In my experience the easiest way to tidy up the code and add the code tags is as follows

Start by tidying up your code by using Tools/Auto Format in the IDE to make it easier to read. Then use Edit/Copy for Forum and paste what was copied in a new reply. Code tags will have been added to the code to make it easy to read in the forum thus making it easier to provide help.

Please edit your post and insert the code as described above

3

Please describe what it should do and what it actually does

4

I've fixed my post, please check and thanks for reply:)

5

Thank you

6

I can see your code working. If distance is greater than 20cm, the motors are enabled and move forward. If distance is less than or equal to 20cm, the motors are disabled and stop. Servo moves, while motors are running or not, from 80 to 180 degrees at each 5 seconds and stays at 180 for 2 seconds before returning to 80 degrees.

Check your power supplies and your wiring.

[edit]
Also, if distance is 20cm and less, there is not servo sweep or motor movement... so maybe you need to aim your HC-SR04 a little "upward"?

7

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