Arduino Robot With Ir Detector

Hello! It`s my robot with ir detector. I printed a simple platform and made little robot for testig different algorithms.

Today I created a program for detecting and going around the barrier.

Step 1: Structure

I used sensor shield for simple connecting sensors, in this case I connected IR-detector sensor and Bluetooth HC-05. The l298p chip is used for motor control.

Step 2: Algorithm

Programm for control is very simple!

The robot goes forward until the sensor does not see any obstacles.
When the robot arrives, such as a wall, he starts spinning in random direction, until he sees a clear path. And he starts to move forward.

Step 3: File for Repead

STL for print http://www.thingiverse.com/thing:1962314

Sketch, don`t forget install lib "SHARP-master" http://playground.arduino.cc/Main/SharpIR

to be continued...