└── README.md


/README.md:
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  1 | # Motor-shield-control
  2 | Arduino coding
  3 | #include <Servo.h>
  4 | #include <AFMotor.h>
  5 | #define Echo A0
  6 | #define Trig A1
  7 | #define motor 10
  8 | #define Speed 250
  9 | #define spoint 170
 10 | char value;
 11 | int distance;
 12 | int Left;
 13 | int Right;
 14 | int L = 0;
 15 | int R = 0;
 16 | int L1 = 0;
 17 | int R1 = 0;
 18 | Servo servo;
 19 | AF_DCMotor M1(1);
 20 | AF_DCMotor M2(2);
 21 | AF_DCMotor M3(3);
 22 | AF_DCMotor M4(4);
 23 | void setup() {
 24 |   Serial.begin(9600);
 25 |   pinMode(Trig, OUTPUT);
 26 |   pinMode(Echo, INPUT);
 27 |   servo.attach(motor);
 28 |   M1.setSpeed(Speed);
 29 |   M2.setSpeed(Speed);
 30 |   M3.setSpeed(Speed);
 31 |   M4.setSpeed(Speed);
 32 | }
 33 | void loop() {
 34 |   //Obstacle();
 35 |  Bluetoothcontrol();
 36 |   //voicecontrol();
 37 | }
 38 | void Bluetoothcontrol() {
 39 |   if (Serial.available() > 0) {
 40 |     value = Serial.read();
 41 |     Serial.println(value);
 42 |   }
 43 |   if (value == 'F') {
 44 |     forward();
 45 |   } else if (value == 'B') {
 46 |     backward();
 47 |   } else if (value == 'L') {
 48 |     left();
 49 |   } else if (value == 'R') {
 50 |     right();
 51 |   } else if (value == 'S') {
 52 |     Stop();
 53 |   }
 54 | }
 55 | void Obstacle() {
 56 |   distance = ultrasonic();
 57 |   if (distance <= 12) {
 58 |     Stop();
 59 |     backward();
 60 |     delay(100);
 61 |     Stop();
 62 |     L = leftsee();
 63 |     servo.write(spoint);
 64 |     delay(800);
 65 |     R = rightsee();
 66 |     servo.write(spoint);
 67 |     if (L < R) {
 68 |       right();
 69 |       delay(500);
 70 |       Stop();
 71 |       delay(200);
 72 |     } else if (L > R) {
 73 |       left();
 74 |       delay(500);
 75 |       Stop();
 76 |       delay(200);
 77 |     }
 78 |   } else {
 79 |     forward();
 80 |   }
 81 | }
 82 | void voicecontrol() {
 83 |   if (Serial.available() > 0) {
 84 |     value = Serial.read();
 85 |     Serial.println(value);
 86 |     if (value == '^') {
 87 |       forward();
 88 |     } else if (value == '-') {
 89 |       backward();
 90 |     } else if (value == '<') {
 91 |       L = leftsee();
 92 |       servo.write(spoint);
 93 |       if (L >= 10 ) {
 94 |         left();
 95 |         delay(500);
 96 |         Stop();
 97 |       } else if (L < 10) {
 98 |         Stop();
 99 |       }
100 |     } else if (value == '>') {
101 |       R = rightsee();
102 |       servo.write(spoint);
103 |       if (R >= 10 ) {
104 |         right();
105 |         delay(500);
106 |         Stop();
107 |       } else if (R < 10) {
108 |         Stop();
109 |       }
110 |     } else if (value == '*') {
111 |       Stop();
112 |     }
113 |   }
114 | }
115 | // Ultrasonic sensor distance reading function
116 | int ultrasonic() {
117 |   digitalWrite(Trig, LOW);
118 |   delayMicroseconds(4);
119 |   digitalWrite(Trig, HIGH);
120 |   delayMicroseconds(10);
121 |   digitalWrite(Trig, LOW);
122 |   long t = pulseIn(Echo, HIGH);
123 |   long cm = t / 29 / 2; //time convert distance
124 |   return cm;
125 | }
126 | void forward() {
127 |   M1.run(FORWARD);
128 |   M2.run(FORWARD);
129 |   M3.run(FORWARD);
130 |   M4.run(FORWARD);
131 | }
132 | void backward() {
133 |   M1.run(BACKWARD);
134 |   M2.run(BACKWARD);
135 |   M3.run(BACKWARD);
136 |   M4.run(BACKWARD);
137 | }
138 | void right() {
139 |   M1.run(BACKWARD);
140 |   M2.run(BACKWARD);
141 |   M3.run(FORWARD);
142 |   M4.run(FORWARD);
143 | }
144 | void left() {
145 |   M1.run(FORWARD);
146 |   M2.run(FORWARD);
147 |   M3.run(BACKWARD);
148 |   M4.run(BACKWARD);
149 | }
150 | void Stop() {
151 |   M1.run(RELEASE);
152 |   M2.run(RELEASE);
153 |   M3.run(RELEASE);
154 |   M4.run(RELEASE);
155 | }
156 | int rightsee() {
157 |   servo.write(20);
158 |   delay(800);
159 |   Left = ultrasonic();
160 |   return Left;
161 | }
162 | int leftsee() {
163 |   servo.write(20);
164 |   delay(800);
165 |   Right = ultrasonic();
166 |   return Right;
167 | }
168 | 


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