Make a Automatic Vaccum Cleaner Robot

 

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YOU TUBE LINK FOR MAKING A ROBOT

https://youtu.be/4FVfoHW16JA

ARDUINO CODE FOR AUTOMATIC AUTOMATIC VACCUM CLEANER ROBOT

#include <Servo.h>

#include <NewPing.h>

// L298N motor control pins

const int LeftMotorForward = 7;

const int LeftMotorBackward = 6;

const int RightMotorForward = 5;

const int RightMotorBackward = 4;

// Sensor pins

#define trig_pin A1

#define echo_pin A2

#define maximum_distance 200

boolean goesForward = false;

int distance = 100;

NewPing sonar(trig_pin, echo_pin, maximum_distance); 

Servo servo_motor; 

void setup() {

  pinMode(RightMotorForward, OUTPUT);

  pinMode(LeftMotorForward, OUTPUT);

  pinMode(LeftMotorBackward, OUTPUT);

  pinMode(RightMotorBackward, OUTPUT);

  servo_motor.attach(10); 

  servo_motor.write(115);

  delay(2000);

  // Calibrate initial distance

  for (int i = 0; i < 4; i++) {

    delay(100);

    distance = readPing();

  }

}

void loop() {

  int distanceRight = 0;

  int distanceLeft = 0;

  delay(50);

  if (distance <= 35) {

    moveStop();

    delay(300);

    moveBackward();

    delay(400);

    moveStop();

    delay(300);

    distanceRight = lookRight();

    delay(300);

    distanceLeft = lookLeft();

    delay(300);

    if (distance >= distanceLeft) {

      turnRight();

      moveStop();

    } else {

      turnLeft();

      moveStop();

    }

  } else {

    moveForward();

  }

  distance = readPing();

}

int lookRight() {

  servo_motor.write(50);

  delay(500);

  int distance = readPing();

  delay(100);

  servo_motor.write(115);

  return distance;

}

int lookLeft() {

  servo_motor.write(170);

  delay(500);

  int distance = readPing();

  delay(100);

  servo_motor.write(115);

  return distance;

}

int readPing() {

  delay(70);

  int cm = sonar.ping_cm();

  if (cm == 0) {

    cm = 250;

  }

  return cm;

}

void moveStop() {

  digitalWrite(RightMotorForward, LOW);

  digitalWrite(LeftMotorForward, LOW);

  digitalWrite(RightMotorBackward, LOW);

  digitalWrite(LeftMotorBackward, LOW);

}

void moveForward() {

  if (!goesForward) {

    goesForward = true;

    digitalWrite(LeftMotorForward, HIGH);

    digitalWrite(RightMotorForward, LOW);

    digitalWrite(LeftMotorBackward, LOW);

    digitalWrite(RightMotorBackward, HIGH);

  }

}

void moveBackward() {

  goesForward = false;

  digitalWrite(LeftMotorBackward, HIGH);

  digitalWrite(RightMotorBackward, LOW);

  digitalWrite(LeftMotorForward, LOW);

  digitalWrite(RightMotorForward, HIGH);

}

void turnRight() {

  digitalWrite(LeftMotorForward, HIGH);

  digitalWrite(RightMotorBackward, LOW);

  digitalWrite(LeftMotorBackward, LOW);

  digitalWrite(RightMotorForward, HIGH);

  delay(250);

  moveStop();

}

void turnLeft() {

  digitalWrite(LeftMotorBackward, HIGH);

  digitalWrite(RightMotorForward, LOW);

  digitalWrite(LeftMotorForward, LOW);

  digitalWrite(RightMotorBackward, HIGH);

  delay(250);

  moveStop();

}