How can I make a Elegoo Smart Robot Car V3.0 to have bluetooth and obstacle avoidance?

Projects Programming
1

So I have an Elegoo Smart Robot Car and I am pretty new to coding in Arduino and I am trying to mix the obstacle avoidance car with the bluetooth car codes. I don't exactly know how to do it. Here is the bluetooth code:

//www.elegoo.com

#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define LED 13

unsigned char carSpeed = 250;
bool state = LOW;
char getstr;

void forward(){
  digitalWrite(ENA,HIGH);
  digitalWrite(ENB,HIGH);
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  Serial.println("Forward");
}

void back(){
  digitalWrite(ENA,HIGH);
  digitalWrite(ENB,HIGH);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  Serial.println("Back");
}
 
void left(){
  analogWrite(ENA,carSpeed);
  analogWrite(ENB,carSpeed);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH); 
  Serial.println("Left");
}
 
void right(){
  analogWrite(ENA,carSpeed);
  analogWrite(ENB,carSpeed);
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  Serial.println("Right");
}
 
void stop(){
  digitalWrite(ENA,LOW);
  digitalWrite(ENB,LOW);
  Serial.println("Stop!");
}
 
void stateChange(){
  state = !state;
  digitalWrite(LED, state);
  Serial.println("Light");  
}
 
void setup() { 
  Serial.begin(9600);
  pinMode(LED, OUTPUT); 
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);
  pinMode(ENA,OUTPUT);
  pinMode(ENB,OUTPUT);
  stop();
}
 
void loop() { 
  getstr = Serial.read();
  switch(getstr){
    case 'f': forward(); break;
    case 'b': back();   break;
    case 'l': left();   break;
    case 'r': right();  break;
    case 's': stop();   break;
    case 'a': stateChange(); break;
    default:  break;
  }
}

Then there is the obstacle avoidance code:

//www.elegoo.com

#include <Servo.h>  //servo library
Servo myservo;      // create servo object to control servo

int Echo = A4;
int Trig = A5;

#define ENB 5
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define ENA 6
#define carSpeed 220
int rightDistance = 0, leftDistance = 0, middleDistance = 0;

void forward(){
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("Forward");
}

void back() {
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("Back");
}

void left() {
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("Left");
}

void right() {
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("Right");
}

void stop() {
  digitalWrite(ENA, LOW);
  digitalWrite(ENB, LOW);
  Serial.println("Stop!");
}

//Ultrasonic distance measurement Sub function
int getDistance() {
    digitalWrite(Trig, LOW);
    delayMicroseconds(2);
    digitalWrite(Trig, HIGH);
    delayMicroseconds(10);
    digitalWrite(Trig, LOW);
    return (int)pulseIn(Echo, HIGH) / 58;
}

void setup() {
  myservo.attach(3);  // attach servo on pin 3 to servo object
  Serial.begin(9600);
  pinMode(Echo, INPUT);
  pinMode(Trig, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
  stop();
}

void loop() {
    myservo.write(90);  //setservo position according to scaled value
    delay(500);
    middleDistance = getDistance();

    if(middleDistance <= 0) {
      stop();
      delay(500);
      myservo.write(10);
      delay(1000);
      rightDistance = getDistance();

      delay(500);
      myservo.write(90);
      delay(1000);
      myservo.write(180);
      delay(1000);
      leftDistance = getDistance();

      delay(500);
      myservo.write(90);
      delay(1000);
      if(rightDistance > leftDistance) {
        right();
        delay(360);
      }
      else if(rightDistance < leftDistance) {
        left();
        delay(360);
      }
      else if((rightDistance <= 20) || (leftDistance <= 20)) {
        back();
        delay(180);
      }
      else {
        forward();
      }
    }
    else {
        forward();
    }
}

So those are my codes. I need help mixing them together so that the car can be controlled but it will stop for obstacles. Any help is appreciated and I will thank everyone who replies. Thank you!
P.S. I really need this to work so I sort of need immediate help. Again help is appreciated!

2

Well, if you really want to combine the processes, you MUST not use the same pin numbers for each process. So, in one program or the other, use different pins and test the new code to be sure it acts the same as the original program did.

1 Like
3

Posting an annotated schematic, not a frizzy picture will help us help you. Generally when something is designed the hardware design is started first then the software so presumably you have a preliminary schematic. Also posting links to technical information on each of the hardware devices will help us give you good and accurate answers.,

4

Thank you for your advice!

5

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