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.

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.

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.

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...