Arduino Obstacle Avoiding Robot

Circuit Diagram

Arduino Codes

#define echoPin 12 //Echo pin of the Ultrasonic sensor connected to pin 12 of Arduino
#define trigPin 13 //Trig pin of the Ultrasonic sensor connected to pin 13 of Arduino
#define MotorR1 7
#define MotorR2 6
#define MotorRE 9  // Define motor pins
#define MotorL1 5
#define MotorL2 4
#define MotorLE 3

long duration, distance; // Define two variables for duration and distance

void setup() {

  // Since the ultrasonic sensor sends waves from the Trig pin, it is defined as OUTPUT,
  // and since it receives these waves from the Echo pin, it is defined as INPUT.
  pinMode(echoPin, INPUT);
  pinMode(trigPin, OUTPUT);

  pinMode(MotorL1, OUTPUT);
  pinMode(MotorL2, OUTPUT);
  pinMode(MotorLE, OUTPUT); // Define our motors as output.
  pinMode(MotorR1, OUTPUT);
  pinMode(MotorR2, OUTPUT);
  pinMode(MotorRE, OUTPUT);

  Serial.begin(9600