This code is designed for an obstacle avoidance system, likely...

This code is designed for an obstacle avoidance system, likely for a robot or automated device. Here's a breakdown of what it does:

Operations:

1. Sending an Ultrasonic Pulse to Measure Distance

• The first part of the code uses an ultrasonic sensor connected to the trigPin and echoPin to measure the distance between the device and an object in front of it.
• digitalWrite(trigPin, LOW); delayMicroseconds(2); digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW);
  • Sends a short HIGH pulse from the trig pin.
• Dulation = pulseIn(echoPin, HIGH);
  • Uses the pulseIn function to measure the time taken (in microseconds) for the HIGH pulse to return via the echo pin.
• int Distance = Dulation*340*100/2/1000000;
  • Calculates the distance (in centimeters) using the speed of sound (340 m/s).

2. Initial Obstacle Detection

• If an object is detected within a certain range (Distance < 10 cm), the program proceeds to scan the surroundings for better navigation.

3. Sweeping Left (Servo Motor Movement and Scanning)

• The program initializes some variables to track obstacles:
  • right, left: Flags for obstacles on the right and left.
  • sumright, sumleft: Counters to sum obstacle detections on either side.
• Moves the neck or servo motor from 170 to 120 degrees in steps of 2 (i = 170 to i >= 120).
• During each step:
  • Moves the servo to the current angle: neck_servo.write(i);.
  • Sends an ultrasonic pulse to check the distance again.
  • If any distance is detected within 15 cm, it increments the sumleft counter.

4. Sweeping Right (Servo Motor Movement and Scanning)

• Similarly, the servo moves to the right, from 10 to 60 degrees (i = 10 to i <= 60), and detects obstacles.
• sumright counter tracks the number of obstacles on the right.

5. Returning to Center

• At the end of the sweeps, the program centers the servo back to 90 degrees: neck_servo.write(90);.

6. Deciding the Turn Direction

• The robot compares the number of obstacles on the left (sumleft) and right (sumright):
  • If there are more obstacles on one side, it turns away from that side:
    • leftturn(3); if more obstacles are on the right.
    • rightturn(3); if more obstacles are on the left.
  • This suggests there are predefined functions (leftturn() and rightturn()) that are called to physically turn the robot.

Purpose:

The primary goal of this code is to avoid obstacles:

1. By identifying whether an obstacle is close in front of the robot.
2. Scanning the surroundings (using a servo motor and ultrasonic sensor) for a clear path.
3. Deciding to turn left or right based on the detected directions with fewer obstacles.

In Summary:

• This code uses an ultrasonic sensor to detect obstacles, rotates a servo to examine the surroundings, and decides the optimal direction (left or right) to turn to avoid obstacles. It is part of a larger system (such as a robotic vehicle) designed to autonomously navigate by avoiding collisions.