Obstacle Detection rev_01

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    - Project: Obstacle Detection
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2025-02-05 05:51:54

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* "I want to implement ultrasonic object detection */
    /* using the HC-SR04 sensor for distance measurement */
    /* and integrate it with a line-following mechanism." */
/****** END SYSTEM REQUIREMENTS *****/

/* START CODE */

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

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

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t Ultra_HC_SR04_Echo_PIN_D3 = 3;

/***** DEFINITION OF DIGITAL OUTPUT PINS *****/
const uint8_t Ultra_HC_SR04_Trigger_PIN_D2 = 2;

// ============================
// Motor control pins
// ============================
const int motorLeft1 = 7;
const int motorLeft2 = 8;
const int motorRight1 = 9;
const int motorRight2 = 10;
const int motorSpeedLeft = 5;
const int motorSpeedRight = 6;

// ============================
// Line-following sensor pins
// ============================
const int lineSensorLeft = A0;
const int lineSensorRight = A2;

// ============================
// Front Ultrasonic sensor pins
// ============================
const int trigPin = 11;
const int echoPin = 12;

// ============================
// Thresholds and global variables
// ============================
const int lineThreshold = 500; // Increased threshold to 30 cm (adjust as needed)
const int obstacleThreshold = 30;

// Create an instance of the Ultrasonic class for the front sensor
Ultrasonic ultrasonic(trigPin, echoPin);

// ============================
// Setup
// ============================
void setup() {
    // put your setup code here, to run once:
    pinMode(Ultra_HC_SR04_Echo_PIN_D3, INPUT);
    pinMode(Ultra_HC_SR04_Trigger_PIN_D2, OUTPUT);

    // Initialize motor control pins as outputs
    pinMode(motorLeft1, OUTPUT);
    pinMode(motorLeft2, OUTPUT);
    pinMode(motorRight1, OUTPUT);
    pinMode(motorRight2, OUTPUT);
    pinMode(motorSpeedLeft, OUTPUT);
    pinMode(motorSpeedRight, OUTPUT);

    // Initialize line-following sensor pins as inputs
    pinMode(lineSensorLeft, INPUT);
    pinMode(lineSensorRight, INPUT);

    // Initialize serial communication for debugging
    Serial.begin(9600);
    randomSeed(analogRead(A3));
}

void loop(void) {
    // put your main code here, to run repeatedly:
    updateOutputs(); // Refresh output data

    // Read line-following sensors
    int leftSensorValue = analogRead(lineSensorLeft);
    int rightSensorValue = analogRead(lineSensorRight);

    // Read the front ultrasonic sensor
    int distance = ultrasonic.read(); // Use the Ultrasonic library to get distance
    Serial.print("Front distance: ");
    Serial.println(distance);

    // Check for obstacles in front using the front sensor
    if (distance > 0 && distance < obstacleThreshold) {
        Serial.println("Obstacle detected in front!");
        compareDistance();
    } else {
        // No front obstacle: follow the line
        if (leftSensorValue < lineThreshold && rightSensorValue < lineThreshold) {
            // Both sensors on the line, move forward
            moveForward();
        } else if (leftSensorValue < lineThreshold) {
            // Left sensor on the line, turn right to re-align
            turnRight();
        } else if (rightSensorValue < lineThreshold) {
            // Right sensor on the line, turn left to re-align
            turnLeft();
        } else {
            // Neither sensor on the line, stop
            stopMotors();
        }
    }
}

// ============================
// New function: compareDistance()
// Uses left/right ultrasonic sensors to decide which way to avoid an obstacle
// ============================
void compareDistance() {
    // Placeholder for left/right distance comparison logic
    // Uncomment and implement if using left/right ultrasonic sensors
}

// ============================
// Motor control functions
// ============================
void moveForward() {
    digitalWrite(motorLeft1, HIGH);
    digitalWrite(motorLeft2, LOW);
    digitalWrite(motorRight1, HIGH);
    digitalWrite(motorRight2, LOW);
    analogWrite(motorSpeedLeft, 200);
    analogWrite(motorSpeedRight, 200);
}

void moveBackward() {
    digitalWrite(motorLeft1, LOW);
    digitalWrite(motorLeft2, HIGH);
    digitalWrite(motorRight1, LOW);
    digitalWrite(motorRight2, HIGH);
    analogWrite(motorSpeedLeft, 200);
    analogWrite(motorSpeedRight, 200);
}

void turnLeft() {
    // To turn left, reverse the left motor and forward the right motor
    digitalWrite(motorLeft1, LOW);
    digitalWrite(motorLeft2, HIGH);
    digitalWrite(motorRight1, HIGH);
    digitalWrite(motorRight2, LOW);
    analogWrite(motorSpeedLeft, 200);
    analogWrite(motorSpeedRight, 200);
}

void turnRight() {
    // To turn right, forward the left motor and reverse the right motor
    digitalWrite(motorLeft1, HIGH);
    digitalWrite(motorLeft2, LOW);
    digitalWrite(motorRight1, LOW);
    digitalWrite(motorRight2, HIGH);
    analogWrite(motorSpeedLeft, 200);
    analogWrite(motorSpeedRight, 200);
}

void stopMotors() {
    digitalWrite(motorLeft1, LOW);
    digitalWrite(motorLeft2, LOW);
    digitalWrite(motorRight1, LOW);
    digitalWrite(motorRight2, LOW);
    analogWrite(motorSpeedLeft, 0);
    analogWrite(motorSpeedRight, 0);
}

void updateOutputs() {
    // Placeholder for updating outputs logic
}

/* END CODE */