DIY simple obstacle avoiding car (diagram and source code)

DIY simple obstacle avoiding car

This simple obstacle avoiding car uses ultrasonic waves for distance measurement and determines the direction of the car according to the measured distance. Simplified handling of obstacles avoiding, as long as there are obstacles, turn right. To save costs, only one ultrasonic wave module, so only objects in front of the obstacles avoiding. The car  adopts a three-wheel structure, and the speed difference is used for direction control.
The finished module used by the ultrasonic module, the microcontroller uses a minimum system board, and the L293d motor drive module  on the bottom PCB.

Schematic Diagram

Download Files:

Schematic diagram Part 1

Schematic diagram Part 1

Source Code for Atmega16