My work.

• 1 x Arduino Nano

• 1 x Micro Servo Motor

• 1 x Ultrasonic Sensor

• 2 x DC Motor w/ wheels

• 1 x TB6612FNG H-Bridge

• 6 x 1.5v AA batteries

1. Discover and understand the details of all aspects of the problem

   • Check component compatibility
   • Check voltage and current requirements / limitations
   • Develop workflow

2. Design the components of the solution to the problem

   • Design breadboard layout and connections
   • Design program details
   • Simulate robot

3. Build the components and integrate everything into the solution

   • Solder / set up required components
   • Code and test single components
   • Connect hardware as per simulation
   • Code and test integrated system

4. Perform all system-level tests and then deploy the solution

   • Perform system functionality tests
   • Perform user acceptance test
   • Complete documentation

            #include <Servo.h>

            int servoPin = 10;
            int servoPos = 0;
            Servo myServo;

            void setup() {
                Serial.begin(9600);
                myServo.attach(servoPin);
            }

            void loop() {
                myServo.write(servoPos);
            }

            #include <NewPing.h>

            const int trigPin = 11;
            const int echoPin = 12;

            int dist = 0;

            NewPing sonar(trigPin, echoPin, 200);

            void setup() {
                Serial.begin(9600);
            }

            void loop() {
                dist = sonar.ping_cm();
                Serial.println(dist);
                delay(100);
            }

            #include <SparkFun_TB6612.h>

            #define AIN1 3
            #define BIN1 7
            #define AIN2 4
            #define BIN2 8
            #define PWMA 5
            #define PWMB 6
            #define STBY 9

            const int offsetA = 1;
            const int offsetB = -1;

            Motor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY);
            Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);

            void setup() {}

            void loop() {
                motor1.drive(255, 1000);
                motor2 .drive(255, 1000);
                delay(1000);
            }

            // Obstacle Avoiding Vehicle
            // Jason O'Grady 2022

            #include <Servo.h>
            #include <SparkFun_TB6612.h>
            #include <NewPing.h>

            #define PWMB 3
            #define BIN2 4
            #define BIN1 5
            #define STBY 6
            #define AIN1 7
            #define AIN2 8
            #define PWMA 9

            const int servoPin = 10;
            const int trigPin = 11;
            const int echoPin = 12;

            const int offsetA = 1;
            const int offsetB = -1;

            Motor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY);
            Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);

            Servo servoMotor;
            NewPing sonar(trigPin, echoPin, 200);

            int dist = 100;

            void setup() {
              Serial.begin(9600);
              servoMotor.attach(servoPin);
              motor1.brake();
              motor2.brake();
              delay(1500);
              forward(motor1, motor2, 255);
            }


            void loop() {

              if (dist <= 15) {
                forward(motor1, motor2, 255);
                delay(100);
                dist = getDistance();
                loop();
              } else if (dist > 15 && dist <=40) {
                brake(motor1, motor2);
                delay(100);
                for (int i = 0; i <= 170; i=i+25) {
                  servoMotor.write(i);
                }
                delay(100);
                int l = getDistance();
                Serial.print("Left: ");
                Serial.println(l);

                for (int i = 170; i >= 0; i=i-25) {
                  servoMotor.write(i);
                }
                delay(100);
                int r = getDistance();
                Serial.print("Right: ");
                Serial.println(r);

                servoMotor.write(90);
                delay(500);

                if (l > r) {
                  Serial.println("Turn Left");
                  motor1.drive(255);
                  delay(100);
                  motor2.drive(-255);
                  delay(100);
                } else {
                  Serial.println("Turn Right");
                  motor2.drive(-255);
                  delay(100);
                  motor1.drive(255);
                  delay(100);
                }
              }

              motor1.drive(-255);
              motor2.drive(-255);

              dist = getDistance();
            }


            int getDistance() {
              delay(100);
              int d = sonar.ping_cm();

              if (d == 0) {
                   d = 200;
              }

              Serial.print("Distance: ");
              Serial.print(d);
              Serial.println(" cm");
              return d;
            }