SumoBot

Thanks to its HC-SR04 distance sensor and line follower sensor, SumoBot detects other objects on the track it is in. Thanks to its line-following sensor, SumoBot detects whether it is inside the track and in this way carries the objects off the track.

SumoBot Arduino C Code

#define SensorLEFT 34   // IR pin
#define SensorRIGHT 35  // IR pin
int trigPin = 17;       // Trigger
int echoPin = 16;       // Echo
long duration, cm;

#define MotorA1 15
#define MotorA2 23

#define MotorB1 32
#define MotorB2 33

#define MotorC1 5
#define MotorC2 4

#define MotorD1 27
#define MotorD2 14


#define fast 255
#define mid 150
#define slow 100
#define THRESHOLD 3600

void forward() {
  analogWrite(MotorA1, mid);
  analogWrite(MotorA2, 0);

  analogWrite(MotorB1, mid);
  analogWrite(MotorB2, 0);

  analogWrite(MotorC1, mid);
  analogWrite(MotorC2, 0);

  analogWrite(MotorD1, mid);
  analogWrite(MotorD2, 0);
}
void slowforward() {
  analogWrite(MotorA1, slow);
  analogWrite(MotorA2, 0);

  analogWrite(MotorB1, slow);
  analogWrite(MotorB2, 0);

  analogWrite(MotorC1, slow);
  analogWrite(MotorC2, 0);

  analogWrite(MotorD1, slow);
  analogWrite(MotorD2, 0);
}
void right() {
  analogWrite(MotorA1, mid);
  analogWrite(MotorA2, 0);

  analogWrite(MotorB1, mid);
  analogWrite(MotorB2, 0);

  analogWrite(MotorC1, 0);
  analogWrite(MotorC2, mid);

  analogWrite(MotorD1, 0);
  analogWrite(MotorD2, mid);
}

void left() {
  analogWrite(MotorA1, 0);
  analogWrite(MotorA2, mid);

  analogWrite(MotorB1, 0);
  analogWrite(MotorB2, mid);

  analogWrite(MotorC1, mid);
  analogWrite(MotorC2, 0);

  analogWrite(MotorD1, mid);
  analogWrite(MotorD2, 0);
}

void stop() {
  analogWrite(MotorA1, 0);
  analogWrite(MotorA2, 0);

  analogWrite(MotorB1, 0);
  analogWrite(MotorB2, 0);

  analogWrite(MotorC1, 0);
  analogWrite(MotorC2, 0);

  analogWrite(MotorD1, 0);
  analogWrite(MotorD2, 0);
}

void backward() {
  analogWrite(MotorA1, LOW);
  analogWrite(MotorA2, mid);

  analogWrite(MotorB1, LOW);
  analogWrite(MotorB2, mid);

  analogWrite(MotorC1, LOW);
  analogWrite(MotorC2, mid);

  analogWrite(MotorD1, LOW);
  analogWrite(MotorD2, mid);
}

void setup() {
  Serial.begin(115200);

  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  pinMode(SensorLEFT, INPUT);
  pinMode(SensorRIGHT, INPUT);

  pinMode(MotorA1, OUTPUT);
  pinMode(MotorA2, OUTPUT);

  pinMode(MotorB1, OUTPUT);
  pinMode(MotorB2, OUTPUT);

  pinMode(MotorC1, OUTPUT);
  pinMode(MotorC2, OUTPUT);

  pinMode(MotorD1, OUTPUT);
  pinMode(MotorD2, OUTPUT);
}

void loop() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(5);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);
  cm = (duration / 2) / 29.1;
  /* Serial.print(cm);
  Serial.print("cm");
  Serial.print("  ");*/
  delay(100);


  int leftSensor = analogRead(SensorLEFT);
  int rightSensor = analogRead(SensorRIGHT);

  /*
  Serial.print("leftSensor: ");
  Serial.print(leftSensor);
  Serial.print("  rightSensor: ");
  Serial.println(rightSensor);
  */

  if ((leftSensor < THRESHOLD && rightSensor < THRESHOLD)) {
    stop();
    delay(500);
    backward();
    delay(800);
    left();
    delay(400);

  } else if ((cm < 15) && (leftSensor >= THRESHOLD && rightSensor >= THRESHOLD)) {
    forward();
  } else {
    slowforward();
  }
}

SumoBot MicroPython Code

import machine
from machine import Pin, ADC, PWM, Timer
from time import sleep
import utime
from rex import HCSR04

#IR pins
leftSensor = ADC(Pin(34))
rightSensor = ADC(Pin(35))

#motorA
motor_A1 = PWM(Pin(15))
motor_A1.duty_u16(0)
motor_A2 = PWM(Pin(23))
motor_A2.duty_u16(0)

#motorB
motor_B1 = PWM(Pin(32))
motor_B1.duty_u16(0)
motor_B2 = PWM(Pin(33))
motor_B2.duty_u16(0)

#motorC
motor_C1 = PWM(Pin(5))
motor_C1.duty_u16(0)
motor_C2 = PWM(Pin(4))
motor_C2.duty_u16(0)

#motorD
motor_D1 = PWM(Pin(27))
motor_D1.duty_u16(0)
motor_D2 = PWM(Pin(14))
motor_D2.duty_u16(0)

#speed values
MotorSpeed = 50000

#HCSR04
sensor = HCSR04(trigger_pin=17, echo_pin=16, echo_timeout_us=10000)

threshold = 65000

def forward(speed):
   motor_A1.duty_u16(speed)
   motor_A2.duty_u16(0)

   motor_B1.duty_u16(speed)
   motor_B2.duty_u16(0)

   motor_C1.duty_u16(speed)
   motor_C2.duty_u16(0)

   motor_D1.duty_u16(speed)
   motor_D2.duty_u16(0)

def right(speed):
   motor_A1.duty_u16(speed)
   motor_A2.duty_u16(0)

   motor_B1.duty_u16(speed)
   motor_B2.duty_u16(0)

   motor_C1.duty_u16(0)
   motor_C2.duty_u16(speed)

   motor_D1.duty_u16(0)
   motor_D2.duty_u16(speed)

def left(speed):
   motor_A1.duty_u16(0)
   motor_A2.duty_u16(speed)

   motor_B1.duty_u16(0)
   motor_B2.duty_u16(speed)

   motor_C1.duty_u16(speed)
   motor_C2.duty_u16(0)

   motor_D1.duty_u16(speed)
   motor_D2.duty_u16(0)

def backward(speed):
   motor_A1.duty_u16(0)
   motor_A2.duty_u16(speed)

   motor_B1.duty_u16(0)
   motor_B2.duty_u16(speed)

   motor_C1.duty_u16(0)
   motor_C2.duty_u16(speed)

   motor_D1.duty_u16(0)
   motor_D2.duty_u16(speed)

def stop():
   motor_A1.duty_u16(0)
   motor_A2.duty_u16(0)

   motor_B1.duty_u16(0)
   motor_B2.duty_u16(0)

   motor_C1.duty_u16(0)
   motor_C2.duty_u16(0)

   motor_D1.duty_u16(0)
   motor_D2.duty_u16(0)

while True:
    distance = sensor.distance_cm()
    #print(distance)
    if distance <= 15:
        leftSensorValue = leftSensor.read_u16()
        rightSensorValue = rightSensor.read_u16()
        #print(leftSensorValue)
        #print(rightSensorValue)
        sleep(0.02)
        if leftSensorValue >= threshold or rightSensorValue >= threshold:
            backward(MotorSpeed)
            sleep(0.5)
        elif leftSensorValue < threshold and rightSensorValue < threshold:
            forward(MotorSpeed)
        else:
            stop()
    else:
        leftSensorValue = leftSensor.read_u16()
        rightSensorValue = rightSensor.read_u16()
        #print(leftSensorValue)
        #print(rightSensorValue)
        sleep(0.02)
        if leftSensorValue >= threshold or rightSensorValue >= threshold:
            backward(MotorSpeed)
            sleep(0.5)
        elif leftSensorValue < threshold and rightSensorValue < threshold:
            left(MotorSpeed)
            sleep(0.1)
            stop()
        else:
            stop()