This project demonstrates how to build a four-in-one multifunctional robot using an Arduino Uno. The robot is capable of operating in four different modes:
Line Following
Obstacle Avoidance
Combined Line Following and Obstacle Avoidance
Object Following
By integrating multiple sensors and an L298N motor driver module, this project is a great learning experience for robotics and automation enthusiasts.
Components and Supplies
4WD Car Chassis Kit - BUY NOW
L298N Motor Driver Module - BUY NOW
Jumper-Wires - BUY NOW
7-12 V DC Battery (in our case lipo 2s battery)
1 Arduino Uno - Buy Now
1 Breadboard - Buy Now
1 Ultrasonic Sensor - Buy Now
1 Servo Motor (SG90) - BUY NOW
Step 1: Circuit Connections
Arduino to L298N Motor Driver
Motor A (Left Wheels) → L298N OUT1 & OUT2
Motor B (Right Wheels) → L298N OUT3 & OUT4
L298N IN1, IN2 → Arduino Digital Pins 5, 6
L298N IN3, IN4 → Arduino Digital Pins 9, 10
L298N VCC → 12V Battery
L298N GND → Common GND with Arduino
L298N 5V Output → Arduino 5V
IR Sensors to Arduino
Left IR Sensor → A0
Right IR Sensor → A1
Additional IR Sensors for obstacle detection → A2, A3
Ultrasonic Sensor to Arduino
Trig Pin → Digital Pin 7
Echo Pin → Digital Pin 8
Servo Motor to Arduino
Signal Pin → Digital Pin 3
VCC → 5V
GND → GND
Step 2: Upload the Code
Use the Arduino IDE to upload the code. Ensure you have installed the NewPing library for ultrasonic sensor functionality.
Key Code Features:
Mode Selection: Line Following, Obstacle Avoidance, Combined Mode, and Object Following.
Motor Control Functions: rotateMotor() handles speed and direction.
Sensor Calibration: Adjust IR sensor sensitivity.
Servo and Ultrasonic Integration: Moves sensor to detect objects dynamically.
Step 3: Testing and Calibration
Calibrate IR Sensors: Ensure they properly detect lines.
Adjust Motor Speed: Modify PWM values if needed.
Battery Considerations: Use a LiPo battery for stable operation.
Fine-tune Ultrasonic Sensor Positioning: Adjust servo angles for better detection.
#include <NewPing.h>
#define TRIG_PIN 7
#define ECHO_PIN 8
#define MAX_DISTANCE 200
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
#define IN1 5
#define IN2 6
#define IN3 9
#define IN4 10
void setup() {
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
}
void loop() {
int distance = sonar.ping_cm();
if (distance > 0 && distance < 20) {
avoidObstacle();
} else {
followLine();
}
}
void avoidObstacle() {
// Logic for obstacle avoidance
}
void followLine() {
// Logic for line following
}
}
