Hello. I am trying to create a arduino car using l293d after uploading the code ot arduino uno i take the car in my hand and test the function for going front, back, left and right. It was working correctly with no problem but when i place it on the ground and test the function for going front and back is working without any problem but when i test turning left or right it doesn't turn and i test it again by taking the car on hand. But no problem their but the problem comes when i place it of any surface. I changed the surface many times but its not working. Please Help!
I also checked the connection their is no problem and the wires of motor is connected to the given pins correctly
Also i use 9v, 18v and 24v for just l293d motor shield and gives extra 5v to arduino via a power bank.
(This is a second project of a bt car first project works fine with same components)
#include <AFMotor.h>
#include <Servo.h>
#include <SoftwareSerial.h> // TX RX software library for bluetooth
//define
#define leftir A5
#define rightir A4
//define
//
Servo myservo1;
Servo myservo2;
//#define trigPin1 5
//#define echoPin1 3
#define trigPin2 9
#define echoPin2 10
//
AF_DCMotor motor1(1); // Motor 1 connected to M1 port of L293D
AF_DCMotor motor2(2); // Motor 2 connected to M2 port of L293D
AF_DCMotor motor3(3); // Motor 3 connected to M3 port of L293D
AF_DCMotor motor4(4); // Motor 4 connected to M4 port of L293D
void setup() {
//ir
pinMode(leftir,INPUT);
pinMode(rightir,INPUT);
//ir
//ultrasonic sensor
pinMode(trigPin2, OUTPUT);
pinMode(echoPin2, INPUT);
//ultrasonic sensor
//
Serial.begin(9600); // Initialize serial communication
motor1.setSpeed(255); // Set motor speed (0-255)
motor2.setSpeed(255);
motor3.setSpeed(255);
motor4.setSpeed(255);
}
void loop() {
if (Serial.available() > 0) {
char command = Serial.read();
executeCommand(command);
}
//ultrasonc sensor
int duration, distance; // The Duration will be the input pulse width and distance will be the distance to the obstacle in centimeters
//new ultra
digitalWrite(trigPin2, HIGH); // The output pulse with 1ms width on trigPin
delay(1);
digitalWrite(trigPin2, LOW);
duration = pulseIn(echoPin2, HIGH); // Measures the pulse input in the echo pin
distance = (duration/2) / 29.1; // Distance is half the duration devided by 29.1 (from datasheet)
// if the distance is less than 0.5 meter and more than 0 (0 or less means over range)
if (distance <= 10 && distance >= 0) {
stopMoving();
Serial.println("EOAB");
} else {
// Nothing
}
// Waits 50 milliseconds
delay(50);
//new ultra
//ultrasonic sensor
}
void executeCommand(char command) {
switch (command) {
case 'F':
moveForward();
break;
case 'B':
moveBackward();
break;
case 'L':
turnLeft();
break;
case 'R':
turnRight();
break;
case 'S':
stopMoving();
break;
case 'Z':
linefollowing();
break;
}
}
void moveForward() {
motor1.setSpeed(255);
motor2.setSpeed(255);
motor3.setSpeed(255);
motor4.setSpeed(255);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
void moveBackward() {
motor1.setSpeed(255);
motor2.setSpeed(255);
motor3.setSpeed(255);
motor4.setSpeed(255);
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
}
void turnLeft() {
// Increase speed for the forward motors, decrease for the backward ones
motor1.setSpeed(255);
motor2.setSpeed(255);
motor3.setSpeed(150); // Reduced speed
motor4.setSpeed(150); // Reduced speed
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
void turnRight() {
// Increase speed for the forward motors, decrease for the backward ones
motor1.setSpeed(150); // Reduced speed
motor2.setSpeed(150); // Reduced speed
motor3.setSpeed(255);
motor4.setSpeed(255);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
}
void stopMoving() {
motor1.setSpeed(0);
motor2.setSpeed(0);
motor3.setSpeed(0);
motor4.setSpeed(0);
}
//line detection forward
void linefollowing() {
int leftSensor = digitalRead(leftir);
int rightSensor = digitalRead(rightir);
if (leftSensor == LOW && rightSensor == LOW) {
// Both sensors detect the line, move forward
motor1.setSpeed(150);
motor2.setSpeed(150);
motor3.setSpeed(150);
motor4.setSpeed(150);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
else if (leftSensor == LOW && rightSensor == HIGH) {
// Left sensor detects the line, turn left
motor1.setSpeed(200);
motor2.setSpeed(200);
motor3.setSpeed(100);
motor4.setSpeed(100);
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
else if (leftSensor == HIGH && rightSensor == LOW) {
// Right sensor detects the line, turn right
motor1.setSpeed(100);
motor2.setSpeed(100);
motor3.setSpeed(200);
motor4.setSpeed(200);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
}
else {
// No line detected, stop
stopMoving();
}
}
//check
void switchtoleftline() {
//linefollowing sub
motor1.setSpeed(150);
motor2.setSpeed(150);
motor3.setSpeed(160);
motor4.setSpeed(160);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
delay(1000);
if(digitalRead(leftir)==0 && digitalRead(rightir)==0) {
linefollowing();
}
}
