🤖 Autonomous Obstacle Avoiding Robot

An Arduino-powered robot that uses an ultrasonic sensor mounted on a servo motor to navigate. It features a robust state-machine logic to scan surroundings and navigate around obstacles efficiently.

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🛠 Features

• State-Machine Logic: Replaces messy if-else chains with a clean enum structure.
• 180° Environmental Scanning: Uses a servo to "look" left and right when blocked.
• Real-time Decision Making: Calculates the best path based on sensor data.
• Safety Stop: Automatically halts motors to prevent collisions.

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🔌 Pin Configuration

Motor Driver (L298N/L293D)

Component	Arduino Pin	Function
IN1	D2	Left Motor Forward
IN2	D3	Left Motor Backward
IN3	D4	Right Motor Forward
IN4	D5	Right Motor Backward

Sensors & Servo

Component	Arduino Pin
Servo Signal	D9
Ultrasonic Trig	D13
Ultrasonic Echo	D12

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🕹 Logic Flow

The robot follows a systematic "Think-then-Act" process:

1. Scan Front: Constantly measures distance while moving.
2. Detection: If an object is detected within 20cm, the robot stops.
3. Scan Right: Servo turns to 20° to check clearance.
4. Scan Left: If Right is blocked, servo turns to 160° to check clearance.
5. Execute: The robot turns toward the open path and resumes forward movement.

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🚀 Installation

1. Clone this repository:

   git clone [https://github.com/yourusername/obstacle-avoiding-robot.git](https://github.com/yourusername/obstacle-avoiding-robot.git)

2. Open the .ino file in the Arduino IDE.
3. Ensure the Servo.h library is installed.
4. Select your board (Arduino Uno) and the correct Port.
5. Click Upload.

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📝 Code Overview

The project is structured using a switch-case state machine:

enum RobotState {
  SCAN_FRONT,
  DECIDE_PATH,
  MOVE_FORWARD,
  STOP_AND_SCAN_RIGHT,
  CHECK_RIGHT,
  TURN_RIGHT,
  SCAN_LEFT,
  CHECK_LEFT,
  TURN_LEFT
};
🤝 Contributing
Contributions are welcome! If you'd like to improve the movement algorithms or add speed control (PWM), feel free to fork the repo and submit a pull request.