Arduino Robot Avoid Obstacles

thingiverse

Materials - nr. 2 micro servi - rotation 360° - nr. 1 sensor HC-SR04 - nr. 1 Arduino Uno - nr. 1 Battery 9 volt Arduino Code: "#include<Servo.h>" const int triggerPort = 11; const int echoPort = 12; Servo servoLeft; Servo servoRight; void setup(){ pinMode(triggerPort, OUTPUT); pinMode(echoPort, INPUT); servoLeft.attach(9); servoLeft.write(90); servoRight.attach(10); servoRight.write(90); Serial.begin(9600); } void loop(){ long distance = CalculateDistance(); if (distance < 15) { Stop(); ChooseDirection(); Stop(); } else { Go(); } //delay(1000); } long CalculateDistance(){ Serial.println("CalculateDistance"); digitalWrite( triggerPort, LOW ); digitalWrite( triggerPort, HIGH ); delayMicroseconds(10); digitalWrite( triggerPort, LOW ); long time = pulseIn( echoPort, HIGH ); long distance = 0.034 * time / 2; return distance; } void Go(){ Serial.println("Go"); servoLeft.write(120); servoRight.write(60); } void Stop(){ Serial.println("Stop"); servoLeft.write(90); servoRight.write(90); delay(2000); } void ChooseDirection(){ Serial.println("ChooseDirection"); int randomChoose = random(1, 4); switch (randomChoose) { case 1: Serial.println("Right 2sec"); servoLeft.write(90); servoRight.write(120); delay(2000); break; case 2: Serial.println("Left 2sec"); servoLeft.write(60); servoRight.write(90); delay(2000); break; case 3: Serial.println("Right 4sec"); servoLeft.write(90); servoRight.write(120); delay(4000); case 4: Serial.println("Left 4sec"); servoLeft.write(60); servoRight.write(90); delay(4000); break; } }