Problem is robot will avoid the obstacle, but after that no forward again

Using Arduino Project Guidance
1

#define trigPin 12

#define echoPin 13

#define ir1 7

#define ir2 6

void setup()

{
Serial.begin(9600);

pinMode(8,OUTPUT);

pinMode(9,OUTPUT);

pinMode(10,OUTPUT);

pinMode(11,OUTPUT);

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

pinMode(ir1, INPUT);

pinMode(ir2,INPUT);

}

void loop()

{

int duration, distance;

int flag,val1,val2;

val1=digitalRead(ir1);

val2=digitalRead(ir2);

Serial.println(val1);

Serial.println(val2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance = (duration/2) / 29.1;

if (distance >= 200 || distance <= 0){

Serial.println("Out of range");

}

else {

Serial.print(distance);

Serial.println(" cm");

}

delay(100);

if (distance >=20)

{

delay(100);

Serial.println("forward");

digitalWrite(8,HIGH);

digitalWrite(9,LOW);

digitalWrite(10,HIGH);

digitalWrite(11,LOW);

delay(100);

}

if (distance<=20)

{

if (val1==1 )

{

Serial.print("turn right");

digitalWrite(8,LOW);

digitalWrite(9,LOW);

digitalWrite(10,HIGH);

digitalWrite(11,LOW);

delay(200);

}

if (val2==1)

{

Serial.print("turn left");

digitalWrite(8,HIGH);

digitalWrite(9,LOW);

digitalWrite(10,LOW);

digitalWrite(11,LOW);

delay(200);

}

}

if(distance<=10)

{

Serial.print("rearrange back");

digitalWrite(8,LOW);

digitalWrite(9,HIGH);

digitalWrite(10,LOW);

digitalWrite(11,HIGH);

delay(200);  

Serial.print("rearranged left");

digitalWrite(8,LOW);

digitalWrite(9,LOW);

digitalWrite(10,HIGH);

digitalWrite(11,LOW);

delay(200);

}

if (distance<=20)

{

Serial.print("Algorithum");

Serial.print("free right");

digitalWrite(8,HIGH);

digitalWrite(9,LOW);

digitalWrite(10,LOW);

digitalWrite(11,LOW);

if(val2==0)

{

Serial.print("smart adjust");

digitalWrite(8,LOW);

digitalWrite(9,HIGH);

digitalWrite(10,LOW);

digitalWrite(11,LOW);

delay(300);

}

}

}

2

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1 Like
3

I see that somewhere in that gibberish you missed telling it to start to again. Also an annotated schematic is a lot better then a list of pins that really does not say a lot.

4

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