Build an Autonomous Arduino Robot with Bump Sensors

Pinout for the L293D H-bridge chip. Pins are in two columns of 8, labeled one through 16, counter-clockwise from the top left, as follows: 1,2EN 1A 1Y 'HEAT SINK AND GROUND' 'HEAT SINK AND GROUND' 2Y 2A VCC2 3,4EN 3A 3Y 'HEAT SINK AND GROUND' 'HEAT SINK AND GROUND' 4Y 4A VCC1

Circuit diagram with the following connections: 9V battery to Arduino barrel jack; Arduino 5V pin to breadboard right-side power bus; Arduino GND pin to breadboard ground bus; 4xAA battery pack positive wire to breadboard A1; 4xAA battery pack ground wire to breadboard ground bus; Jumper wire connecting breadboard left and right ground buses; Do NOT connect the breadboard left and right power buses, this will short the Arduino 5V supply to the 6V from the battery pack; Power switch in breadboard C1, C2, C3; Jumper wire from left side power bus to A2; L293D chip straddling middle gap in breadboard from rows 10-17, with notch facing up (towards row 1); Jumper wire from breadboard A10 to Arduino pin 10; Jumper wire from breadboard B11 to Arduino pin 9; Motor negative lead to breadboard A12; Jumper wire from breadboard A13 to ground bus; Jumper wire from breadboard A14 to ground bus; Motor positive lead to breadboard A15; Jumper wire from breadboard C16 to Arduino pin 8; Jumper wire from breadboard A17 to left side power bus; Jumper wire from breadboard J10 to right side power bus; Jumper wire from breadboard G11 to Arduino pin 13; Motor negative lead to breadboard J12; Jumper wire from breadboard J13 to ground bus; Jumper wire from breadboard J14 to ground bus; Motor positive lead to breadboard J15; Jumper wire from breadboard H16 to Arduino pin 12; Jumper wire from breadboard H17 to Arduino pin 11;

// declare variables for motor control pins int Motor1Speed = 10; int Motor1Control1 = 9; int Motor1Control2 = 8; int Motor2Speed = 11; int Motor2Control1 = 13; int Motor2Control2 = 12; // declare variable for motor speed (0-255) int speed = 255; // declare variable for delay time in milliseconds int delayTime = 1000; void setup() { // setup code that only runs once // set motor control pins as outputs pinMode(Motor1Speed, OUTPUT); pinMode(Motor1Control1, OUTPUT); pinMode(Motor1Control2, OUTPUT); pinMode(Motor2Speed, OUTPUT); pinMode(Motor2Control1, OUTPUT); pinMode(Motor2Control2, OUTPUT); // set speed for both motors analogWrite(Motor1Speed, speed); analogWrite(Motor2Speed, speed); } void loop() { // code that loops forever // set both wheels to spin forward for delayTime milliseconds digitalWrite(Motor1Control1, HIGH); digitalWrite(Motor1Control2, LOW); digitalWrite(Motor2Control1, HIGH); digitalWrite(Motor2Control2, LOW); delay(delayTime); // stop for delayTime milliseconds digitalWrite(Motor1Control1, LOW); digitalWrite(Motor1Control2, LOW); digitalWrite(Motor2Control1, LOW); digitalWrite(Motor2Control2, LOW); delay(delayTime); }

Long alt text: bump sensor, viewed with the metal lever facing up and to the right. When viewed in this orientation, from top to bottom, the sensor's pins are connected to breadboard ground, 5V, and Arduino pin 7 respectively.

int sensorPin = 7; // declare variable for sensor input pin int pinState; // declare variable for sensor state void setup() { // setup code that only runs once pinMode(sensorPin, INPUT); // set the sensor pin as an input Serial.begin(9600); // initialize serial communication } void loop() { // code that loops forever pinState = digitalRead(sensorPin); if (pinState == true){ Serial.println('Switch pressed'); }else{ Serial.println('witch not pressed'); } }