How to make a DIY Multi-functional robot car using Arduino

How to make a DIY Multi-functional robot car using Arduino

Hello, welcome back. In this tutorial, we will learn how to make a multi-functional robot car using Arduino. Also, this robot car includes three functions. That is, line-following, recognizing obstacles, and controlling the robotic arm. For that, it uses two IR infrared sensors, one ultrasonic sensor, and one robotic arm. For the robot arm, we have used the assembled robot arm kit in a previous tutorial. If you want to visit that tutorial. Use this link. Keep reading.

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The process of this robot car

When this robot car is activated, it starts to move forward on the black line. Two IR infrared sensors were used for this purpose. Going forward in this way, the ultrasonic sensor calculates the distance ahead. In this case, when there is an obstacle in front of 9 cm, the robot stops. Then, the obstacle is removed using the robotic arm. After, the robot will move forward freely again. This process continues. Also, all of these components are controlled by the Arduino Uno board and the l293d motor driver shield.

OK, let’s do this project step by step. The required components are given below.

Disclosure: These Amazon links are Affiliate links. As an Amazon Associate, I earn from qualifying purchases.

Step 1

Firstly, identify these components.

UNO board
L293D motor driver
16 channel servo motor control driver board for Arduino
16 channel servo motor control driver board for Arduino
Battery holder
Jumper wires
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Step 2

Secondly, cut a piece of foam board according to the size below.

Step 3

Thirdly, attach the gear motors to the foam board.

Step 4

Then, attach the robot wheels as follows.

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Step 5

Next, cut a 10 cm long piece of foam board and attach the two IR sensors and the ultrasonic sensor to it.

Step 6

Then, cut out the following sizes and glue them as shown below.

Step 7

Now, glue these parts to the front of the robot.

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Step 8

Next, attach the robot arm to the robot car chassis. For that, you can use a robot arm kit.

Step 9

After, connect the motor driver shield to the Arduino UNO board. After, glue it to the robot and connect the gear motors to it.

Step 10

Next, attach the PWM servo motor driver and connect the servo motors to it. For that, use the circuit diagram below.

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How to make a DIY Multi-functional robot car using Arduino

Step 11

Then, connect the two IR sensors and the ultrasonic sensor to the motor driver shield. To do this, use the circuit diagram above.

Step 12

Next, attach the li-ion battery holder to this robot car.

Step 13

Now, connect this robot car to the computer and upload the program for this robot. It is as follows.

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/*Multi function robot with Arduino.
 * https://srituhobby.com
 */
 
#include <AFMotor.h>
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver srituhobby = Adafruit_PWMServoDriver();
AF_DCMotor motor1(2);
AF_DCMotor motor2(3);

#define Echo A0
#define Trig A1
#define S1 A2
#define S2 A3
#define Speed 150

#define servo1 0
#define servo2 1
#define servo3 2
#define servo4 3

void setup() {
  pinMode(S1, INPUT);
  pinMode(S2, INPUT);
  pinMode(Trig, OUTPUT);
  pinMode(Echo, INPUT);

  srituhobby.begin();
  srituhobby.setPWMFreq(60);
  srituhobby.setPWM(servo1, 0, 340);
  srituhobby.setPWM(servo2, 0, 150);
  srituhobby.setPWM(servo3, 0, 300);
  srituhobby.setPWM(servo4, 0, 290);

  motor1.setSpeed(Speed);
  motor2.setSpeed(Speed);


}
void loop() {
  int distance = obstacle();
  Serial.println(distance);
  if (distance <= 9) {
    motor1.run(RELEASE);
    motor2.run(RELEASE);
    motor1.run(BACKWARD);
    motor2.run(BACKWARD);
    delay(100);
    motor1.run(RELEASE);
    motor2.run(RELEASE);
    delay(100);
    robotArm();
    delay(100);
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    delay(100);

  } else {
    linefollower();
  }
}
void linefollower() {
  bool value1 = digitalRead(S1);
  bool value2 = digitalRead(S2);

  if (value1 == 0 && value2 == 0) {
    motor1.run(FORWARD);
    motor2.run(FORWARD);
  } else if (value1 == 1 && value2 == 1) {
    motor1.run(RELEASE);
    motor2.run(RELEASE);
  } else if (value1 == 1 && value2 == 0) {
    motor1.run(BACKWARD);
    motor2.run(FORWARD);
  } else if (value1 == 0 && value2 == 1) {
    motor1.run(FORWARD);
    motor2.run(BACKWARD);
  }
}

int obstacle() {
  digitalWrite(Trig, LOW);
  delayMicroseconds(4);
  digitalWrite(Trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig, LOW);
  long t = pulseIn(Echo, HIGH);
  int cm = t / 29 / 2;
  return cm;
}

void robotArm() {

  for (int S4value = 290; S4value <= 490; S4value++) {
    srituhobby.setPWM(servo4, 0, S4value);
    delay(10);
  }

  for (int S3value = 300; S3value <= 450; S3value++) {
    srituhobby.setPWM(servo3, 0, S3value);
    delay(10);
  }

  for (int S2value = 150; S2value <= 190; S2value++) {
    srituhobby.setPWM(servo2, 0, S2value);
    delay(10);
  }

  for (int S4value = 490; S4value > 290; S4value--) {
    srituhobby.setPWM(servo4, 0, S4value);
    delay(10);
  }

  for (int S3value = 450; S3value > 300; S3value--) {
    srituhobby.setPWM(servo3, 0, S3value);
    delay(10);
  }

  for (int S2value = 190; S2value <= 320; S2value++) {
    srituhobby.setPWM(servo2, 0, S2value);
    delay(10);
  }

  for (int S1value = 340; S1value >= 150; S1value--) {
    srituhobby.setPWM(servo1, 0, S1value);
    delay(10);
  }

  for (int S3value = 300; S3value <= 410; S3value++) {
    srituhobby.setPWM(servo3, 0, S3value);
    delay(10);
  }

  for (int S4value = 290; S4value <= 490; S4value++) {
    srituhobby.setPWM(servo4, 0, S4value);
    delay(10);
  }

  for (int S4value = 490; S4value > 290; S4value--) {
    srituhobby.setPWM(servo4, 0, S4value);
    delay(10);
  }

  for (int S3value = 410; S3value > 300; S3value--) {
    srituhobby.setPWM(servo3, 0, S3value);
    delay(10);
  }
  for (int S2value = 320; S2value > 150; S2value--) {
    srituhobby.setPWM(servo2, 0, S2value);
    delay(10);
  }

  for (int S1value = 150; S1value < 340; S1value++) {
    srituhobby.setPWM(servo1, 0, S1value);
    delay(10);
  }
}

Code explanation

Firstly, library files are included.

#include <AFMotor.h>
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Secondly, objects are created for these libraries.

Adafruit_PWMServoDriver srituhobby = Adafruit_PWMServoDriver();
AF_DCMotor motor1(2);
AF_DCMotor motor2(3);

Thirdly, the sensor pins and servo motor pins are defined.

#define Echo A0
#define Trig A1
#define S1 A2
#define S2 A3
#define Speed 150

#define servo1 0
#define servo2 1
#define servo3 2
#define servo4 3

In the setup function,

void setup() {
//The sensor pins are set as input and output pins
  pinMode(S1, INPUT);
  pinMode(S2, INPUT);
  pinMode(Trig, OUTPUT);
  pinMode(Echo, INPUT);
//The servo motor library is begin
  srituhobby.begin();
  srituhobby.setPWMFreq(60);
//This code sets the robot arm start point
  srituhobby.setPWM(servo1, 0, 340);
  srituhobby.setPWM(servo2, 0, 150);
  srituhobby.setPWM(servo3, 0, 300);
  srituhobby.setPWM(servo4, 0, 290);
//Sets the gear motor speeds
  motor1.setSpeed(Speed);
  motor2.setSpeed(Speed);
}

In the loop function,

void loop() {
//Gets the distance from the ultrasonic sensor function
  int distance = obstacle();
//Distance values is checked using the IF condition. If the distance value is less than or equal to 9, the robot is stops and the robot arm function is called
  if (distance <= 9) {
    motor1.run(RELEASE);
    motor2.run(RELEASE);
    motor1.run(BACKWARD);
    motor2.run(BACKWARD);
    delay(100);
    motor1.run(RELEASE);
    motor2.run(RELEASE);
    delay(100);
    robotArm();
    delay(100);
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    delay(100);
//Otherwise, the line-following function is called
  } else {
    linefollower();
  }
}

This is the line-follower function.

void linefollower() {
//Gets the sensor values
  bool value1 = digitalRead(S1);
  bool value2 = digitalRead(S2);

//The sensor values are checked using the IF condition. If the values of both sensors are 0, the robot moves forward.
  if (value1 == 0 && value2 == 0) {
    motor1.run(FORWARD);
    motor2.run(FORWARD);
//If the values of both sensors are 1, the robot is stops.
  } else if (value1 == 1 && value2 == 1) {
    motor1.run(RELEASE);
    motor2.run(RELEASE);
//If the left sensor value is 1, the robot turns to the right.
  } else if (value1 == 1 && value2 == 0) {
    motor1.run(BACKWARD);
    motor2.run(FORWARD);
//If the right sensor value is 1, the robot turns to the left.
  } else if (value1 == 0 && value2 == 1) {
    motor1.run(FORWARD);
    motor2.run(BACKWARD);
  }
}
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This is the ultrasonic sensor function.

int obstacle() {
//This code sends a pulse
  digitalWrite(Trig, LOW);
  delayMicroseconds(4);
  digitalWrite(Trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig, LOW);
//Gets the time as the distance
  long t = pulseIn(Echo, HIGH);
//This code calculate the distance using that time
  int cm = t / 29 / 2;
//Returns this distance to the loop function
  return cm;
}

This is the robot arm function. You can change the following values as you like.

void robotArm() {

  for (int S4value = 290; S4value <= 490; S4value++) {
    srituhobby.setPWM(servo4, 0, S4value);
    delay(10);
  }

  for (int S3value = 300; S3value <= 450; S3value++) {
    srituhobby.setPWM(servo3, 0, S3value);
    delay(10);
  }

  for (int S2value = 150; S2value <= 190; S2value++) {
    srituhobby.setPWM(servo2, 0, S2value);
    delay(10);
  }

  for (int S4value = 490; S4value > 290; S4value--) {
    srituhobby.setPWM(servo4, 0, S4value);
    delay(10);
  }

  for (int S3value = 450; S3value > 300; S3value--) {
    srituhobby.setPWM(servo3, 0, S3value);
    delay(10);
  }

  for (int S2value = 190; S2value <= 320; S2value++) {
    srituhobby.setPWM(servo2, 0, S2value);
    delay(10);
  }

  for (int S1value = 340; S1value >= 150; S1value--) {
    srituhobby.setPWM(servo1, 0, S1value);
    delay(10);
  }

  for (int S3value = 300; S3value <= 410; S3value++) {
    srituhobby.setPWM(servo3, 0, S3value);
    delay(10);
  }

  for (int S4value = 290; S4value <= 490; S4value++) {
    srituhobby.setPWM(servo4, 0, S4value);
    delay(10);
  }

  for (int S4value = 490; S4value > 290; S4value--) {
    srituhobby.setPWM(servo4, 0, S4value);
    delay(10);
  }

  for (int S3value = 410; S3value > 300; S3value--) {
    srituhobby.setPWM(servo3, 0, S3value);
    delay(10);
  }
  for (int S2value = 320; S2value > 150; S2value--) {
    srituhobby.setPWM(servo2, 0, S2value);
    delay(10);
  }

  for (int S1value = 150; S1value < 340; S1value++) {
    srituhobby.setPWM(servo1, 0, S1value);
    delay(10);
  }
}

Step 14

Now, select board and port. After, upload this code to the Arduino board.

Step 15

Finally, put the batteries into the battery holder and enjoy this multi-functional robot car project. The full video guide is given below. So, we will meet in the next tutorial.

How to make a DIY Multi-functional robot car using Arduino

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10 Comments

  2. Hi dear,
    i assembled a similar robot for a project but it doesn’t work accordingly. i checked wiring…no issues which means the issue might come from the code. I would like and truly appreciate if you could share the complete code to me, i’m also willing to pay for if that’s the case.

    Thank you, best regards.

    Reply

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