"Obstacle Navigation" rev_01

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    - Project: "Obstacle Navigation"
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2024-12-18 03:09:01

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Make me the code of an Arduno Uno line followerand */
    /* obstacle-avoiding robot with ultrasonic sensor and */
    /* ir sensor */
/****** END SYSTEM REQUIREMENTS *****/

/* START CODE */

/****** DEFINITION OF LIBRARIES *****/
#include <Ultrasonic.h> //https://github.com/ErickSimoes/Ultrasonic

// Pin Definitions
#define IR_LEFT A0       // Left IR sensor
#define IR_RIGHT A1      // Right IR sensor
#define TRIG 8           // Ultrasonic trigger pin
#define ECHO 7           // Ultrasonic echo pin
#define MOTOR_LEFT_1 2   // Left motor control pin 1
#define MOTOR_LEFT_2 3   // Left motor control pin 2
#define MOTOR_RIGHT_1 4  // Right motor control pin 1
#define MOTOR_RIGHT_2 5  // Right motor control pin 2
#define ENA 6            // Left motor speed (PWM)
#define ENB 9            // Right motor speed (PWM)

// Constants
#define DISTANCE_THRESHOLD 15  // Minimum distance for obstacle avoidance (cm)
#define DEFAULT_SPEED 120      // Default motor speed (0-255)
#define TURN_DELAY 700         // Delay for turning (ms)
#define STOP_DELAY 500         // Delay for stopping (ms)
#define SENSOR_DEBOUNCE 5      // Debounce readings to filter noise

// Movement States
enum Movement {
  FORWARD,
  LEFT,
  RIGHT,
  STOP
};

// Function to calculate distance using ultrasonic sensor
int getDistance() {
  long total = 0;
  for (int i = 0; i < 5; i++) {  // Average readings for better accuracy
    digitalWrite(TRIG, LOW);
    delayMicroseconds(2);
    digitalWrite(TRIG, HIGH);
    delayMicroseconds(10);
    digitalWrite(TRIG, LOW);
    total += pulseIn(ECHO, HIGH, 30000);  // Timeout after 30ms
  }
  long avgDuration = total / 5;
  return avgDuration * 0.034 / 2;  // Convert duration to distance in cm
}

// Function to set motor state
void setMotorState(int left1, int left2, int right1, int right2) {
  digitalWrite(MOTOR_LEFT_1, left1);
  digitalWrite(MOTOR_LEFT_2, left2);
  digitalWrite(MOTOR_RIGHT_1, right1);
  digitalWrite(MOTOR_RIGHT_2, right2);
}

// Function to handle robot movement
void setMovement(Movement state) {
  switch (state) {
    case FORWARD:
      Serial.println("Moving Forward");
      setMotorState(HIGH, LOW, HIGH, LOW);
      break;
    case LEFT:
      Serial.println("Turning Left");
      setMotorState(LOW, LOW, HIGH, LOW);
      break;
    case RIGHT:
      Serial.println("Turning Right");
      setMotorState(HIGH, LOW, LOW, LOW);
      break;
    case STOP:
      Serial.println("Stopping");
      setMotorState(LOW, LOW, LOW, LOW);
      break;
  }
}

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

// ***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t Sensor_HC_SR04_Echo_PIN = ECHO; // Echo pin for ultrasonic sensor

// ***** DEFINITION OF DIGITAL OUTPUT PINS *****/
const uint8_t Sensor_HC_SR04_Trigger_PIN = TRIG; // Trigger pin for ultrasonic sensor

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
// Create an instance of the Ultrasonic class
Ultrasonic ultrasonic(TRIG, ECHO);

void setup(void)
{
    // put your setup code here, to run once:

    pinMode(Sensor_HC_SR04_Echo_PIN, INPUT);
    pinMode(Sensor_HC_SR04_Trigger_PIN, OUTPUT);

    // Initialize pins for USER CODE
    pinMode(IR_LEFT, INPUT);
    pinMode(IR_RIGHT, INPUT);
    pinMode(TRIG, OUTPUT);
    pinMode(ECHO, INPUT);
    pinMode(MOTOR_LEFT_1, OUTPUT);
    pinMode(MOTOR_LEFT_2, OUTPUT);
    pinMode(MOTOR_RIGHT_1, OUTPUT);
    pinMode(MOTOR_RIGHT_2, OUTPUT);
    pinMode(ENA, OUTPUT);
    pinMode(ENB, OUTPUT);

    // Set default motor speed
    analogWrite(ENA, DEFAULT_SPEED);
    analogWrite(ENB, DEFAULT_SPEED);

    // Start serial communication
    Serial.begin(9600);
}

void loop(void)
{
    // put your main code here, to run repeatedly:

    // Read and debounce IR sensors
    int leftIR = digitalRead(IR_LEFT);
    int rightIR = digitalRead(IR_RIGHT);
    for (int i = 0; i < SENSOR_DEBOUNCE; i++) {
        leftIR &= digitalRead(IR_LEFT);
        rightIR &= digitalRead(IR_RIGHT);
    }

    // Measure distance using ultrasonic sensor
    int distance = getDistance();
    Serial.print("Distance: ");
    Serial.println(distance);

    // Obstacle Avoidance Logic
    if (distance < DISTANCE_THRESHOLD) {  // Obstacle detected
        setMovement(STOP);                  // Stop
        delay(STOP_DELAY);                  // Pause
        setMovement(RIGHT);                 // Turn right
        delay(TURN_DELAY);                  // Delay for turning
        setMovement(FORWARD);               // Resume forward movement
        return;                             // Skip further line-following logic
    }

    // Line Following Logic
    if (leftIR == LOW && rightIR == LOW) {  // Both sensors on the line
        setMovement(FORWARD);
    } else if (leftIR == LOW) {  // Only left sensor on the line
        setMovement(LEFT);
    } else if (rightIR == LOW) {  // Only right sensor on the line
        setMovement(RIGHT);
    } else {  // Neither sensor on the line
        setMovement(STOP);
    }
}

/* END CODE */