Description

ABSTRACT

Raspberry Pi beginners will learn here to interfacing Robotic car with additional functionalities by adding ultrasonic sensor with the Raspberry Pi, to detect the obstacles. So that car will become the collision avoidance to avoid the collision on obstacles which becomes an automatic functional car, which also is used for maze solver robot. By adding further two ultrasonic sensors with the robotic car, the accuracy of detecting obstacles will increase to make it as standalone on the field of obstacles.

HARDWARE REQUIRED

• Raspberry Pi
• SD card
• Power supply
• L293D (Driver IC)
• Robotic car
• Bluetooth module (HC-05) (optional)

 

SOFTWARE REQUIRED

• Raspbian Stretch OS      
• SD card Formatter
• Win32DiskImager (or) Etcher

PYTHON LIBRARIES USED

• RPi.GPIO as GPIO (To access the GPIO Pins of Raspberry Pi)
• Time library (For Time delay)
• Bluetooth Library

CODE

import RPi.GPIO as GPIO
import time
MotL_A=5
MotL_B=6
MotR_A=13
MotR_B=19
GPIO.setmode(GPIO.BCM)
GPIO.setup(23,GPIO.OUT)#Trigger Pin
GPIO.setup(24,GPIO.IN)#Echo Pin
GPIO.setup(MotL_A, GPIO.OUT)
GPIO.setup(MotL_B, GPIO.OUT)
GPIO.setup(MotR_A, GPIO.OUT)
GPIO.setup(MotR_B, GPIO.OUT)
t=0
r=0
def Forward():
    GPIO.output(MotL_A, 1)
    GPIO.output(MotL_B, 0)
    GPIO.output(MotR_A, 0)
    GPIO.output(MotR_A, 1)


def Backward():
    GPIO.output(MotL_A, 0)
    GPIO.output(MotL_B, 1)
    GPIO.output(MotR_A, 1)
    GPIO.output(MotR_A, 0)


def Left():
    GPIO.output(MotL_A, 0)
    GPIO.output(MotL_B, 0)
    GPIO.output(MotR_A, 0)
    GPIO.output(MotR_A, 1)


def Right():
    GPIO.output(MotL_A, 1)
    GPIO.output(MotL_B, 0)
    GPIO.output(MotR_A, 0)
    GPIO.output(MotR_A, 0)


def Stop():
    GPIO.output(MotL_A, 0)
    GPIO.output(MotL_B, 0)
    GPIO.output(MotR_A, 0)
    GPIO.output(MotR_A, 0)

while True:
    GPIO.output(23,True)
    time.sleep(0.001)
    GPIO.output(23,False)
    while GPIO.input(24)==0:
      t=time.time()
    while GPIO.input(24)==1:
      r=time.time()
    diff=r-t
    d=(34300*diff)/2 
    print int(d)
    if(d < 30):
       Right()
    else:
      Forward()