Object Detection.txt

// Right motor
int enableRightMotor = 6;
int rightMotorPin1 = 7;
int rightMotorPin2 = 8;

// Left motor
int enableLeftMotor = 5;
int leftMotorPin1 = 9;
int leftMotorPin2 = 10;

// Ultrasonic Sensor Pins
#define TRIGGER_PIN A0
#define ECHO_PIN A1

// Speed for motors (0-255)
int motorSpeed = 80;
int semiCircleSpeed = 80; // Speed for semicircular movement
int semiCircleTime = 2000; // Duration for semicircle in milliseconds

void setup() {
  // Initialize motor control pins as outputs
  pinMode(enableRightMotor, OUTPUT);
  pinMode(rightMotorPin1, OUTPUT);
  pinMode(rightMotorPin2, OUTPUT);

  pinMode(enableLeftMotor, OUTPUT);
  pinMode(leftMotorPin1, OUTPUT);
  pinMode(leftMotorPin2, OUTPUT);

  // Initialize ultrasonic sensor pins
  pinMode(TRIGGER_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);

  // Initialize Serial for debugging
  Serial.begin(9600);

  // Start moving forward
  moveForward();
}

void loop() {
  // Measure distance using the ultrasonic sensor
  float distance = measureDistance();

  // Print the distance for debugging
  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");

  // If an object is detected within 15 cm, perform a semicircular motion
  if (distance > 0 && distance <= 20) {
    moveSemicircle();
    moveForward(); // Resume moving forward after semicircle
  }

  delay(100); // Small delay for stable readings
}

// Function to move motors forward
void moveForward() {
  // Set Right Motor: Forward Direction
  digitalWrite(rightMotorPin1, HIGH);
  digitalWrite(rightMotorPin2, LOW);

  // Set Left Motor: Forward Direction
  digitalWrite(leftMotorPin1, HIGH);
  digitalWrite(leftMotorPin2, LOW);

  // Set Motor Speeds
  analogWrite(enableRightMotor, motorSpeed);
  analogWrite(enableLeftMotor, motorSpeed);
}

// Function to perform semicircular motion
void moveSemicircle() {
  // Stop the right motor and run the left motor for semicircular motion
  digitalWrite(rightMotorPin1, LOW);
  digitalWrite(rightMotorPin2, LOW);

  digitalWrite(leftMotorPin1, HIGH);
  digitalWrite(leftMotorPin2, LOW);

  analogWrite(enableRightMotor, 0);          // Stop right motor
  analogWrite(enableLeftMotor, semiCircleSpeed); // Left motor continues

  delay(semiCircleTime); // Time for the semicircular motion

  // Stop both motors after semicircle
  stopMotors();
}

// Function to stop all motors
void stopMotors() {
  digitalWrite(rightMotorPin1, LOW);
  digitalWrite(rightMotorPin2, LOW);
  digitalWrite(leftMotorPin1, LOW);
  digitalWrite(leftMotorPin2, LOW);

  analogWrite(enableRightMotor, 0);
  analogWrite(enableLeftMotor, 0);
}

// Function to measure distance using ultrasonic sensor
float measureDistance() {
  // Send a 10-microsecond pulse to the trigger pin
  digitalWrite(TRIGGER_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIGGER_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIGGER_PIN, LOW);

  // Measure the duration of the echo pulse
  long duration = pulseIn(ECHO_PIN, HIGH);

  // Convert the duration to distance (in cm)
  float distance = (duration / 2.0) * 0.0343;

  return distance;
}