Arduino Human Following Robot is a 4-wheeled robot car meant for education and entertainment purposes. 

When it is turned on, it will attempt to scan using a motion sensor combined with two IR sensors to determine the closest moving object next to him ( in this case, a human hand). After the target is acquired, it will start following it until the object stops.

Schemă bloc:

Poze robot:

1. Arduino Uno R3
2. 4 Motoare
3. 1 servomotor
4. 1 Arduino Motor Controller
5. 2 senzori IR
6. Jumper Wires
7. 2 Li-Ion Battery *

 Mediu de dezvoltare: **ArduinoIDE**
 
 Librarii folosite: **NewPing**,**Servo**,**AFMotor**
 

Cod:

#include<NewPing.h>           
#include<Servo.h>             
#include<AFMotor.h>           
 
#define RIGHT A2              // Right IR sensor connected to analog pin A2 of Arduino Uno:
#define LEFT A3               // Left IR sensor connected to analog pin A3 of Arduino Uno:
#define TRIGGER_PIN A1        // Trigger pin connected to analog pin A1 of Arduino Uno:
#define ECHO_PIN A0           // Echo pin connected to analog pin A0 of Arduino Uno:
#define MAX_DISTANCE 200      // Maximum ping distance:
 
unsigned int distance = 0;    //Variable to store ultrasonic sensor distance:
unsigned int Right_Value = 0; //Variable to store Right IR sensor value:
unsigned int Left_Value = 0;  //Variable to store Left IR sensor value:
 
 
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);  //NewPing setup of pins and maximum distance:
 
AF_DCMotor Motor1(1,MOTOR12_1KHZ);
AF_DCMotor Motor2(2,MOTOR12_1KHZ);
AF_DCMotor Motor3(3,MOTOR34_1KHZ);
AF_DCMotor Motor4(4,MOTOR34_1KHZ);
 
 Servo myservo;
 int pos=0;     //variable to store the servo position:
 
void setup() { // the setup function runs only once when power on the board or reset the board:
 
   Serial.begin(9600); //initailize serial communication at 9600 bits per second:
   myservo.attach(10); // servo attached to pin 10 of Arduino UNO
{
for(pos = 90; pos <= 180; pos += 1){    // goes from 90 degrees to 180 degrees:
  myservo.write(pos);                   //tell servo to move according to the value of 'pos' variable:
  delay(15);                            //wait 15ms for the servo to reach the position:
  } 
for(pos = 180; pos >= 0; pos-= 1) {     // goes from 180 degrees to 0 degrees:
  myservo.write(pos);                   //tell servo to move according to the value of 'pos' variable:
  delay(15);                            //wait 15ms for the servo to reach the position:
  }
for(pos = 0; pos<=90; pos += 1) {       //goes from 180 degrees to 0 degrees:
  myservo.write(pos);                   //tell servo to move according to the value of 'pos' variable:
  delay(15);                            //wait 15ms for the servo to reach the position:
  }
}
   pinMode(RIGHT, INPUT); //set analog pin RIGHT as an input:
   pinMode(LEFT, INPUT);  //set analog pin LEFT as an input:
}
 
// the lope function runs forever
void loop() {                             
 
delay(50);                                        //wait 50ms between pings:
distance = sonar.ping_cm();                       //send ping, get distance in cm and store it in 'distance' variable:
Serial.print("distance");                   
Serial.println(distance);                         // print the distance in serial monitor:
 
 
    Right_Value = digitalRead(RIGHT);             // read the value from Right IR sensor:
    Left_Value = digitalRead(LEFT);               // read the value from Left IR sensor:
 
Serial.print("RIGHT");                      
Serial.println(Right_Value);                      // print the right IR sensor value in serial monitor:
Serial.print("LEFT");                       
Serial.println(Left_Value);                       //print the left IR sensor value in serial monitor:
 
if((distance > 1) && (distance < 15)){            //check wheather the ultrasonic sensor's value stays between 1 to 15.
                                                  //If the condition is 'true' then the statement below will execute:
  //Move Forward:
  Motor1.setSpeed(130);  //define motor1 speed:
  Motor1.run(FORWARD);   //rotate motor1 clockwise:
  Motor2.setSpeed(130);  //define motor2 speed:
  Motor2.run(FORWARD);   //rotate motor2 clockwise:
  Motor3.setSpeed(130);  //define motor3 speed:
  Motor3.run(FORWARD);   //rotate motor3 clockwise:
  Motor4.setSpeed(130);  //define motor4 speed:
  Motor4.run(FORWARD);   //rotate motor4 clockwise:
 
}else if((Right_Value==0) && (Left_Value==1)) {
 
  //Turn Left                                                
  Motor1.setSpeed(150);  //define motor1 speed:
  Motor1.run(FORWARD);   //rotate motor1 cloclwise:
  Motor2.setSpeed(150);  //define motor2 speed:
  Motor2.run(FORWARD);   //rotate motor2 clockwise:
  Motor3.setSpeed(150);  //define motor3 speed:
  Motor3.run(BACKWARD);  //rotate motor3 anticlockwise:
  Motor4.setSpeed(150);  //define motor4 speed:
  Motor4.run(BACKWARD);  //rotate motor4 anticlockwise:
  delay(150);
 
}else if((Right_Value==1)&&(Left_Value==0)) {
 
  //Turn Right
  Motor1.setSpeed(150);  //define motor1 speed:
  Motor1.run(BACKWARD);  //rotate motor1 anticlockwise:
  Motor2.setSpeed(150);  //define motor2 speed:
  Motor2.run(BACKWARD);  //rotate motor2 anticlockwise:
  Motor3.setSpeed(150);  //define motor3 speed:
  Motor3.run(FORWARD);   //rotate motor3 clockwise:
  Motor4.setSpeed(150);  //define motor4 speed:
  Motor4.run(FORWARD);   //rotate motor4 clockwise:
  delay(150);
 
}else if(distance > 15) {
 
  //Stop
  Motor1.setSpeed(0);    //define motor1 speed:
  Motor1.run(RELEASE);   //stop motor1:
  Motor2.setSpeed(0);    //define motor2 speed:
  Motor2.run(RELEASE);   //stop motor2:
  Motor3.setSpeed(0);    //define motor3 speed:
  Motor3.run(RELEASE);   //stop motor3:
  Motor4.setSpeed(0);    //define motor4 speed:
  Motor4.run(RELEASE);   //stop motor4:
}
}