Obstacle & Pit Detection Robo Car

[nyt1972]

Hello,
I am making a robot car that stops when it comes to any obstacle or pit, that is, it stops if there is an obstacle in front of it or it stops if a pit comes, for this I have an ultrasonic sensor and an IR sensor. I have written this code but the car stops at the obstacle but instead of coming to a stop it rolls over.

// Include the library
#include <L298N.h>
#include <Servo.h>
#include <NewPing.h>

// Pin definition
const unsigned int IN1 = 5;
const unsigned int IN2 = 6;
const unsigned int IN3 = 10;
const unsigned int IN4 = 9;
Servo myservo;

// Create one motor instance
L298N motor_left(IN1, IN2);
L298N motor_right(IN3, IN4);
int us_front = 105;
int us_right = 0;
int us_left = 180;

int irFront = 2;
//int irLeft = 3;
int echoPin = 7;
int trigPin = 8;

int distance;
NewPing us_sensor(trigPin, echoPin, 200);

void setup() {
  // Used to display information
  Serial.begin(9600);

  myservo.attach(4);
  myservo.write(us_front);
  pinMode(irFront, INPUT);
  // Wait for Serial Monitor to be opened
  while (!Serial) {
    //do nothing
  }
}

void loop() {
   motor_left.setSpeed(150);
  motor_right.setSpeed(150);
  int distance = us_sensor.ping_cm();
  int valFront = digitalRead(irFront);

  //If distance is within 30 cm then adjust motor direction as below
  if ((distance > 0 && distance < 30) || valFront == HIGH) {
    //Stop motors
    motor_left.stop();
    motor_right.stop();
    delay(200);

    //Reverse motors
    motor_left.backward();
    motor_right.backward();
    delay(300);

    //Stop motors
    motor_left.stop();
    motor_right.stop();
    delay(500);

    //Rotate servo to left
    myservo.write(us_left);
    delay(500);

    //Read left side distance using ultrasonic sensor
    int distanceLeft = us_sensor.ping_cm();

    //Rotate servo to right
    myservo.write(us_right);
    delay(500);

    //Read right side distance using ultrasonic sensor
    int distanceRight = us_sensor.ping_cm();

    //Bring servo to center
    myservo.write(us_front);
    delay(500);

    if (distanceLeft == 0 && irFront == LOW) {
      motor_right.forward();
      motor_left.stop();
      delay(500);
    } else if (distanceRight == 0 && irFront == LOW) {
      motor_right.stop();
      motor_left.forward();
      delay(500);
    } else if (distanceLeft >= distanceRight && irFront == LOW) {
      motor_right.forward();
      motor_left.stop();
      delay(500);
    } else {
      motor_right.stop();
      motor_left.forward();
      delay(500);
    }
    motor_left.stop();
    motor_right.stop();
    delay(500);
  } else {
    motor_right.forward();
    motor_left.forward();
  }
}

Please help me,
Thanks in advance.

[xfpd]

@nyt1972

rolls over

Rolls over the object (does not stop) or falls on it side?

This is not the solution, but these two move the same way (right forward drag turn)

    if (distanceLeft == 0 && irFront == LOW) {
      motor_right.forward();
      motor_left.stop();

and

    } else if (distanceLeft >= distanceRight && irFront == LOW) {
      motor_right.forward();
      motor_left.stop();

And these two move the same way (left forward drag turn)

    } else if (distanceRight == 0 && irFront == LOW) {
      motor_right.stop();
      motor_left.forward();

and

    } else {
      motor_right.stop();
      motor_left.forward();
      delay(500);