Irham Aldiyanto
Published

Line Follower Based Automatic Garbage Transport Robot

I made this project because it can shorten the time of garbage disposal to a temporary dump that is carried out by the cleaners on my campus

ExpertWork in progress3
Line Follower Based Automatic Garbage Transport Robot

Things used in this project

Hardware components

ESP32
Espressif ESP32
×1
DC Motor, 12 V
DC Motor, 12 V
×4
Dual H-Bridge motor drivers L298
SparkFun Dual H-Bridge motor drivers L298
×1
IR Range Sensor
Digilent IR Range Sensor
×5
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
Grove - 2-Channel SPDT Relay
Seeed Grove - 2-Channel SPDT Relay
×1
Battery Holder, 18650 x 2
Battery Holder, 18650 x 2
×1
Breadboard (generic)
Breadboard (generic)
×1
Jumper wires (generic)
Jumper wires (generic)
×1
powerbank
×1

Software apps and online services

Arduino IDE
Arduino IDE

Hand tools and fabrication machines

Multitool, Screwdriver
Multitool, Screwdriver
Soldering iron (generic)
Soldering iron (generic)
Solder Wire, Lead Free
Solder Wire, Lead Free

Story

Read more

Schematics

schematics_olbxDzoWyV.png

Code

Untitled file

C/C++
#include <analogWrite.h>

// --------------------------------------------------- DECLARATION TRASHSENSOR RELAY WITH SENSOR IR ----------------------------
//const int RELAY = 32;
const int trashsensor = 35;

// --------------------------------------------------- IF THERE IS AN OBSTACLE STOP USING THE ULTRASONIC SENSOR ----------------
int TRIG = 26; // membuat varibel trig yang di set ke-pin D6
int ECHO = 25; // membuat variabel echo yang di set ke-pin D7
long duration, distance;     // membuat variabel durasi dan jarak

// --------------------------------------------------- DECLARATION FRONT REAR MOTOR DC LEFT ------------------------------------
int frontleftmotorPin1 = 21;
int rearleftmotorPin2 = 22;
int enablePinA = 23;

// --------------------------------------------------- DECLARATION FRONT REAR MOTOR DC RIGHT -----------------------------------
int frontrightmotorPin1 = 18;
int rearrightmotorPin2 = 19;
int enablePinB = 5;

// --------------------------------------------------- DECLARATION SENSOR IR ---------------------------------------------------
int leftsensor1 = 27;
int leftsensor2 = 14;
int rightsensor1 = 13;
int rightsensor2 = 12;

// --------------------------------------------------- VOID SETUP --------------------------------------------------------------
void setup() {
  // linefollow:
  pinMode(enablePinA, OUTPUT);
  pinMode(enablePinB, OUTPUT);
  
  pinMode(leftsensor1, INPUT);
  pinMode(leftsensor2, INPUT);
  pinMode(rightsensor1, INPUT);
  pinMode(rightsensor2, INPUT);
  
  pinMode(frontleftmotorPin1, OUTPUT);
  pinMode(rearleftmotorPin2, OUTPUT);
  pinMode(frontrightmotorPin1, OUTPUT);
  pinMode(rearrightmotorPin2, OUTPUT);

  // setup pin relay with sensor IR
  pinMode(trashsensor, INPUT);
  //pinMode(RELAY, OUTPUT);
  //digitalWrite(RELAY, HIGH);

  // setup pin sensor ultrasonik
  pinMode(TRIG, OUTPUT);    // set pin trig menjadi OUTPUT
  pinMode(ECHO, INPUT);     // set pin echo menjadi

  Serial.begin(115200);
}

// --------------------------------------------------- VOID FUNCTION -----------------------------------------------------------
void maju (void) {
    digitalWrite(frontleftmotorPin1,LOW);
    digitalWrite(rearleftmotorPin2,HIGH);
    digitalWrite(frontrightmotorPin1,HIGH);
    digitalWrite(rearrightmotorPin2,LOW);
    analogWrite (enablePinA, 150);
    analogWrite (enablePinB, 150);
    //delay(2);
  }

void belokkanan (void) {
    digitalWrite(frontleftmotorPin1,LOW);
    digitalWrite(rearleftmotorPin2,HIGH);
    digitalWrite(frontrightmotorPin1,LOW);
    digitalWrite(rearrightmotorPin2,HIGH);
    analogWrite (enablePinA, 150);
    analogWrite (enablePinB, 150);
    //delay(2);
  }

void belokkiri (void) {
    digitalWrite(frontleftmotorPin1,HIGH);
    digitalWrite(rearleftmotorPin2,LOW);
    digitalWrite(frontrightmotorPin1,HIGH);
    digitalWrite(rearrightmotorPin2,LOW);
    analogWrite (enablePinA, 150);
    analogWrite (enablePinB, 150);
    //delay(2);
  }
  
void berhenti (void) {
    digitalWrite(frontleftmotorPin1,LOW);
    digitalWrite(rearleftmotorPin2,LOW);
    digitalWrite(frontrightmotorPin1,LOW);
    digitalWrite(rearrightmotorPin2,LOW);
    analogWrite (enablePinA, 0);
    analogWrite (enablePinB, 0);
  }

void linefollow (void) {
    int leftsensor1 = digitalRead(27); 
    int leftsensor2 = digitalRead(14);
    int rightsensor1 = digitalRead(13);
    int rightsensor2 = digitalRead(12);

    /*if (leftsensor1 == LOW && leftsensor2 == LOW && rightsensor1 == LOW && rightsensor2 == LOW) {
        maju ();
    }*/
    if (leftsensor1 == HIGH && leftsensor2 == LOW && rightsensor1 == LOW && rightsensor2 == LOW) {
        belokkiri ();
    }
    if (leftsensor1 == LOW && leftsensor2 == LOW && rightsensor1 == LOW && rightsensor2 == HIGH) {
        belokkanan ();
    }
    if (leftsensor1 == LOW && leftsensor2 == HIGH && rightsensor1 == LOW && rightsensor2 == LOW) {
        belokkiri ();
    }
    if (leftsensor1 == LOW && leftsensor2 == LOW && rightsensor1 == HIGH && rightsensor2 == LOW) {
        belokkanan ();
    }
    if (leftsensor1 == HIGH && leftsensor2 == HIGH && rightsensor1 == LOW && rightsensor2 == LOW) {
        belokkiri ();
    }
    if (leftsensor1 == LOW && leftsensor2 == LOW && rightsensor1 == HIGH && rightsensor2 == HIGH) {
        belokkanan ();
    }
    if (leftsensor1 == HIGH && leftsensor2 == HIGH && rightsensor1 == HIGH && rightsensor2 == HIGH) {
        berhenti ();

    }
}

void obstacleultrasonic (void) {
  //obstacle ultrasonik
  digitalWrite(TRIG, LOW);
  delayMicroseconds(4);
  digitalWrite(TRIG, HIGH);
  delayMicroseconds(4);
  digitalWrite(TRIG, LOW);
  delayMicroseconds(4);
  duration = pulseIn(ECHO, HIGH); // menerima suara ultrasonic
  distance = (duration / 2) / 29.1;  // mengubah durasi menjadi jarak (cm)
  if (distance < 18){
    berhenti ();
    //Serial.println("There Are Obstacle Ahead");
    delay(60);
  }
  else if (distance > 18) {
     linefollow ();
     //Serial.println("No Obstacle Ahead");
     delay(60);
  }

    /*Serial.print("Jarak Benda: ");
    Serial.print(distance);          // menampilkan jarak pada serial monitor
    Serial.println(" cm");
    delay(500);*/
}

void trashsensordetect (void) {
  int sensorState = digitalRead(trashsensor);
  if (sensorState == LOW) {
    maju ();
    /*digitalWrite(RELAY, LOW);
    Serial.println("Full Trash");*/
    //delay(60);
  }
   else {
    linefollow ();
    /*digitalWrite(RELAY, HIGH);
    Serial.println("Trash Not Full");*/
    delay(60);
   }
}

// --------------------------------------------------- VOID LOOP ---------------------------------------------------------------
void loop() {
    //line follow
    linefollow ();

    //obstacle ultrasonic
    obstacleultrasonic ();

    //trashsensor
    trashsensordetect ();
}

If you don't have library analogWrite.h

Credits

Irham Aldiyanto

Irham Aldiyanto

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