{"id":303,"date":"2026-06-10T21:25:40","date_gmt":"2026-06-10T13:25:40","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/arduino-obstacle-avoidance-robot-hcsr04-farsi\/"},"modified":"2026-06-10T21:25:40","modified_gmt":"2026-06-10T13:25:40","slug":"arduino-obstacle-avoidance-robot-hcsr04-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/arduino-obstacle-avoidance-robot-hcsr04-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0631\u0628\u0627\u062a \u062a\u0634\u062e\u06cc\u0635 \u0645\u0627\u0646\u0639 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 \u0633\u0646\u0633\u0648\u0631 \u0627\u0648\u0644\u062a\u0631\u0627\u0633\u0648\u0646\u06cc\u06a9 HC-SR04: \u0631\u0627\u0647\u0646\u0645\u0627\u06cc \u06a9\u0627\u0645\u0644 \u0645\u0628\u062a\u062f\u06cc (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0631\u0628\u0627\u062a \u062a\u0634\u062e\u06cc\u0635 \u0645\u0627\u0646\u0639 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
\n

\u0631\u0628\u0627\u062a \u062a\u0634\u062e\u06cc\u0635 \u0645\u0627\u0646\u0639 \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u06a9\u0633\u06cc \u06a9\u0647 \u062a\u0627 \u0627\u0645\u0631\u0648\u0632 \u0646\u062f\u06cc\u062f\u0647)<\/h2>\n

\u0631\u0628\u0627\u062a \u062a\u0634\u062e\u06cc\u0635 \u0645\u0627\u0646\u0639 (Obstacle Avoidance Robot)<\/strong> \u06cc\u06a9 \u0648\u0633\u06cc\u0644\u0647 \u0645\u062a\u062d\u0631\u06a9 \u06a9\u0648\u0686\u06a9 \u0627\u0633\u062a \u06a9\u0647 \u0628\u062f\u0648\u0646 \u062f\u062e\u0627\u0644\u062a \u0627\u0646\u0633\u0627\u0646\u060c \u0648\u0642\u062a\u06cc \u0628\u0647 \u0645\u0627\u0646\u0639\u06cc \u0646\u0632\u062f\u06cc\u06a9 \u0645\u06cc\u200c\u0634\u0648\u062f\u060c \u062e\u0648\u062f\u0634 \u0645\u06cc\u200c\u0627\u06cc\u0633\u062a\u062f \u0648 \u0645\u0633\u06cc\u0631\u0634 \u0631\u0627 \u0639\u0648\u0636 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0631\u0627 \u0628\u0627 \u06a9\u0645\u06a9 \u06cc\u06a9 \u0633\u0646\u0633\u0648\u0631 \u0627\u0648\u0644\u062a\u0631\u0627\u0633\u0648\u0646\u06cc\u06a9<\/strong> \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u062f\u0647\u062f \u2014 \u0642\u0637\u0639\u0647\u200c\u0627\u06cc \u06a9\u0647 \u062f\u0642\u06cc\u0642\u0627\u064b \u0645\u062b\u0644 \u062e\u0641\u0627\u0634 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f: \u06cc\u06a9 \u067e\u0627\u0644\u0633 \u0635\u0648\u062a\u06cc \u0628\u0627 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0628\u0627\u0644\u0627 \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u0645\u0646\u062a\u0638\u0631 \u0645\u06cc\u200c\u0645\u0627\u0646\u062f \u062a\u0627 \u0635\u062f\u0627 \u0628\u0647 \u0645\u0627\u0646\u0639 \u0628\u0631\u062e\u0648\u0631\u062f \u06a9\u0646\u062f \u0648 \u0628\u0631\u06af\u0631\u062f\u062f\u060c \u0633\u067e\u0633 \u0628\u0627 \u062a\u0648\u062c\u0647 \u0628\u0647 \u0632\u0645\u0627\u0646 \u0631\u0641\u062a\u200c\u0648\u0628\u0631\u06af\u0634\u062a\u060c \u0641\u0627\u0635\u0644\u0647 \u0631\u0627 \u0628\u0627 \u062f\u0642\u062a \u0633\u0627\u0646\u062a\u06cc\u200c\u0645\u062a\u0631 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

\u0645\u062d\u0628\u0648\u0628\u200c\u062a\u0631\u06cc\u0646 \u0633\u0646\u0633\u0648\u0631 \u0627\u0648\u0644\u062a\u0631\u0627\u0633\u0648\u0646\u06cc\u06a9 \u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc\u0627\u0646\u060c HC-SR04<\/strong> \u0627\u0633\u062a\u061b \u0627\u0631\u0632\u0627\u0646 (\u0632\u06cc\u0631 \u06f5\u06f0 \u0647\u0632\u0627\u0631 \u062a\u0648\u0645\u0627\u0646)\u060c \u0633\u0627\u062f\u0647\u060c \u0648 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u062e\u06cc\u0644\u06cc \u0631\u0627\u062d\u062a \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0628\u0631\u062f \u062a\u0634\u062e\u06cc\u0635 \u0622\u0646 \u06f2 \u062a\u0627 \u06f4\u06f0\u06f0 \u0633\u0627\u0646\u062a\u06cc\u200c\u0645\u062a\u0631 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0627\u06a9\u062b\u0631 \u067e\u0631\u0648\u0698\u0647\u200c\u0647\u0627\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u062e\u0627\u0646\u06af\u06cc \u06a9\u0627\u0641\u06cc \u0627\u0633\u062a.<\/p>\n

\u0622\u0631\u062f\u0648\u06cc\u0646\u0648 Nano<\/strong> \u0645\u063a\u0632 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u0627\u0633\u062a \u2014 \u06cc\u06a9 \u0628\u0631\u062f \u06a9\u0648\u0686\u06a9\u200c\u062a\u0631 \u0648 \u0627\u0631\u0632\u0627\u0646\u200c\u062a\u0631 \u0627\u0632 Arduino Uno \u06a9\u0647 \u0647\u0645\u0627\u0646 \u0642\u062f\u0631\u062a \u0631\u0627 \u062f\u0627\u0631\u062f \u0648 \u0631\u0648\u06cc \u0628\u0631\u062f\u0628\u0631\u062f \u062e\u06cc\u0644\u06cc \u0628\u0647\u062a\u0631 \u062c\u0627 \u0645\u06cc\u200c\u0634\u0648\u062f. L298N<\/strong> \u0647\u0645 \u06cc\u06a9 \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631 \u062f\u0648 \u06a9\u0627\u0646\u0627\u0644 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0627\u062c\u0627\u0632\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 DC \u0631\u0627 \u0628\u0627 \u062c\u0647\u062a \u0648 \u0633\u0631\u0639\u062a \u0645\u0633\u062a\u0642\u0644 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u062f. \u062a\u0631\u06a9\u06cc\u0628 \u0627\u06cc\u0646 \u0633\u0647 \u0642\u0637\u0639\u0647 \u0628\u0627 \u06cc\u06a9 \u0634\u0627\u0633\u06cc \u06f2WD \u0622\u0645\u0627\u062f\u0647\u060c \u06cc\u06a9 \u0631\u0628\u0627\u062a \u0639\u0645\u0644\u06cc \u0648 \u0622\u0645\u0648\u0632\u0646\u062f\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u062f \u06a9\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0647\u0645\u06cc\u0646 \u0627\u0645\u0631\u0648\u0632 \u0634\u0631\u0648\u0639 \u06a9\u0646\u06cc\u062f.<\/p>\n<\/div>\n

\n

\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 \u0631\u0628\u0627\u062a \u062f\u0648\u0686\u0631\u062e \u062e\u0648\u062f\u06a9\u0627\u0631<\/strong> \u06a9\u0647 \u0628\u0627 \u0633\u0646\u0633\u0648\u0631 \u0627\u0648\u0644\u062a\u0631\u0627\u0633\u0648\u0646\u06cc\u06a9 \u0645\u0648\u0627\u0646\u0639 \u0631\u0627 \u062a\u0634\u062e\u06cc\u0635 \u0645\u06cc\u200c\u062f\u0647\u062f\u060c \u0645\u062a\u0648\u0642\u0641 \u0645\u06cc\u200c\u0634\u0648\u062f\u060c \u0628\u0647 \u0633\u0645\u062a \u0645\u0633\u06cc\u0631 \u0628\u0627\u0632 \u0645\u06cc\u200c\u0686\u0631\u062e\u062f \u0648 \u0627\u062f\u0627\u0645\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f \u2014 \u062a\u0645\u0627\u0645 \u0627\u06cc\u0646\u200c\u0647\u0627 \u0628\u062f\u0648\u0646 \u0647\u06cc\u0686 \u062f\u062e\u0627\u0644\u062a \u062f\u0633\u062a\u06cc.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646 \u0633\u0627\u062e\u062a:<\/strong> \u06f2 \u062a\u0627 \u06f4 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0633\u0637\u062d:<\/strong> \u0645\u0628\u062a\u062f\u06cc \u06a9\u0627\u0645\u0644<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647 \u062a\u0642\u0631\u06cc\u0628\u06cc:<\/strong> \u06f5\u06f0\u06f0 \u0647\u0632\u0627\u0631 \u062a\u0627 \u06f1 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0627\u0631\u062a\u0642\u0627\u06cc \u0628\u0639\u062f\u06cc:<\/strong> \u0627\u0636\u0627\u0641\u0647 \u06a9\u0631\u062f\u0646 \u0633\u0631\u0648\u0648 \u0628\u0631\u0627\u06cc \u0686\u0631\u062e\u0634 \u0633\u0646\u0633\u0648\u0631\u060c \u0646\u0645\u0627\u06cc\u0634 \u0641\u0627\u0635\u0644\u0647 \u0631\u0648\u06cc LCD<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\n\u0631\u0628\u0627\u062a \u062a\u0634\u062e\u06cc\u0635 \u0645\u0627\u0646\u0639 \u2014 \u0646\u0645\u0627\u06cc \u06a9\u0644\u06cc<\/text>\nArduino Nano<\/text>\nL298N \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631 + \u0628\u0627\u062a\u0631\u06cc<\/text>\n\u0645\u0648\u062a\u0648\u0631 \u0686\u067e<\/text>\n\u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a<\/text>\nHC-SR04<\/text>\n\u0633\u0646\u0633\u0648\u0631 \u062f\u0631 \u062c\u0644\u0648 \u2014 \u067e\u0631\u062f\u0627\u0632\u0634 \u062f\u0631 \u0645\u0631\u06a9\u0632 \u2014 \u062e\u0631\u0648\u062c\u06cc \u0628\u0647 \u0645\u0648\u062a\u0648\u0631\u0647\u0627<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0648 \u0627\u0628\u0632\u0627\u0631\u0647\u0627\u06cc \u0644\u0627\u0632\u0645 (BOM)<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u0645\u062f\u0644 \u067e\u06cc\u0634\u0646\u0647\u0627\u062f\u06cc<\/th>\n\u0646\u0642\u0634<\/th>\n\u062a\u0639\u062f\u0627\u062f<\/th>\n<\/tr>\n<\/thead>\n
    \u0645\u06cc\u06a9\u0631\u0648\u06a9\u0646\u062a\u0631\u0644\u0631<\/td>\nArduino Nano V3<\/td>\n\u0645\u063a\u0632 \u0631\u0628\u0627\u062a<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u0633\u0646\u0633\u0648\u0631 \u0627\u0648\u0644\u062a\u0631\u0627\u0633\u0648\u0646\u06cc\u06a9<\/td>\nHC-SR04<\/td>\n\u062a\u0634\u062e\u06cc\u0635 \u0645\u0627\u0646\u0639<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631<\/td>\nL298N Module<\/td>\n\u06a9\u0646\u062a\u0631\u0644 \u062f\u0648 \u0645\u0648\u062a\u0648\u0631<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u0634\u0627\u0633\u06cc \u0648 \u0645\u0648\u062a\u0648\u0631<\/td>\nSmart Car Chassis 2WD Kit<\/td>\n\u062d\u0631\u06a9\u062a<\/td>\n\u06f1 \u06a9\u06cc\u062a<\/td>\n<\/tr>\n
    \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 (\u0627\u062e\u062a\u06cc\u0627\u0631\u06cc)<\/td>\nSG90<\/td>\n\u0686\u0631\u062e\u0634 \u0633\u0646\u0633\u0648\u0631<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u0628\u0627\u062a\u0631\u06cc<\/td>\n2S LiPo 1000mAh \u06cc\u0627 4\u00d7AA<\/td>\n\u062a\u063a\u0630\u06cc\u0647<\/td>\n\u06f1<\/td>\n<\/tr>\n
    \u0633\u06cc\u0645 \u062c\u0627\u0645\u067e\u0631<\/td>\nMale-Male \/ Male-Female<\/td>\n\u0627\u062a\u0635\u0627\u0644\u0627\u062a<\/td>\n\u06f2\u06f0 \u0639\u062f\u062f<\/td>\n<\/tr>\n
    \u0627\u0628\u0632\u0627\u0631<\/td>\n\u0647\u0648\u06cc\u0647\u060c \u0645\u0648\u0644\u062a\u06cc\u200c\u0645\u062a\u0631\u060c \u067e\u06cc\u0686\u200c\u06af\u0648\u0634\u062a\u06cc<\/td>\n\u0645\u0648\u0646\u062a\u0627\u0698<\/td>\n\u2014<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u0645\u0631\u0627\u062d\u0644 \u0633\u0627\u062e\u062a \u06af\u0627\u0645 \u0628\u0647 \u06af\u0627\u0645<\/h2>\n

    \u0645\u0631\u062d\u0644\u0647 \u06f1 \u2014 \u0645\u0648\u0646\u062a\u0627\u0698 \u0634\u0627\u0633\u06cc \u0648 \u0646\u0635\u0628 \u0645\u0648\u062a\u0648\u0631\u0647\u0627<\/h3>\n

    \u0634\u0627\u0633\u06cc \u06f2WD \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0634\u0627\u0645\u0644 \u062f\u0648 \u062a\u062e\u062a\u0647 \u0627\u06a9\u0631\u06cc\u0644\u06cc\u06a9\u060c \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 DC \u06af\u06cc\u0631\u0628\u06a9\u0633\u200c\u062f\u0627\u0631\u060c \u062f\u0648 \u0686\u0631\u062e \u0644\u0627\u0633\u062a\u06cc\u06a9\u06cc\u060c \u06cc\u06a9 \u0686\u0631\u062e \u062c\u0644\u0648\u06cc\u06cc \u0622\u0632\u0627\u062f (Caster Wheel) \u0648 \u067e\u06cc\u0686 \u0648 \u0645\u0647\u0631\u0647 \u0627\u0633\u062a. \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0631\u0627 \u0637\u0628\u0642 \u0631\u0627\u0647\u0646\u0645\u0627\u06cc \u06a9\u06cc\u062a \u062f\u0631 \u06a9\u0646\u0627\u0631\u0647\u0627\u06cc \u062a\u062e\u062a\u0647 \u067e\u0627\u06cc\u06cc\u0646 \u067e\u06cc\u0686 \u06a9\u0646\u06cc\u062f. \u062f\u0642\u062a \u06a9\u0646\u06cc\u062f \u0645\u0648\u062a\u0648\u0631 \u0686\u067e \u0648 \u0631\u0627\u0633\u062a \u0631\u0627 \u0627\u0632 \u0647\u0645 \u062c\u062f\u0627 \u0646\u06af\u0647 \u062f\u0627\u0631\u06cc\u062f \u2014 \u062f\u0631 \u06a9\u062f \u0628\u0647 \u0622\u0646\u200c\u0647\u0627 \u0627\u0634\u0627\u0631\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645.<\/p>\n

    \u0645\u0631\u062d\u0644\u0647 \u06f2 \u2014 \u0646\u0635\u0628 \u0628\u0631\u062f Arduino Nano \u0648 L298N<\/h3>\n

    Arduino Nano \u0631\u0627 \u0631\u0648\u06cc \u062a\u062e\u062a\u0647 \u0628\u0627\u0644\u0627\u06cc\u06cc \u0634\u0627\u0633\u06cc \u0628\u0627 \u062f\u0648\u0637\u0631\u0641\u200c\u0686\u0633\u0628 \u06cc\u0627 \u067e\u0627\u06cc\u0647 \u067e\u06cc\u0686 \u0646\u0635\u0628 \u06a9\u0646\u06cc\u062f. L298N \u0631\u0627 \u06a9\u0646\u0627\u0631\u0634 \u0642\u0631\u0627\u0631 \u062f\u0647\u06cc\u062f. \u0633\u06cc\u0645\u200c\u0647\u0627\u06cc \u0645\u0648\u062a\u0648\u0631 \u0686\u067e \u0631\u0627 \u0628\u0647 \u062e\u0631\u0648\u062c\u06cc OUT1\/OUT2 \u0648 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a \u0631\u0627 \u0628\u0647 OUT3\/OUT4 \u0648\u0635\u0644 \u06a9\u0646\u06cc\u062f. \u062a\u0648\u062c\u0647: \u062c\u0647\u062a \u0645\u0648\u062a\u0648\u0631 \u0628\u0639\u062f\u0627\u064b \u0628\u0627 \u06a9\u062f \u0642\u0627\u0628\u0644 \u062a\u0646\u0638\u06cc\u0645 \u0627\u0633\u062a\u061b \u0627\u0644\u0627\u0646 \u0641\u0642\u0637 \u0648\u0635\u0644 \u06a9\u0646\u06cc\u062f.<\/p>\n

    \u0645\u0631\u062d\u0644\u0647 \u06f3 \u2014 \u0646\u0635\u0628 HC-SR04 \u062f\u0631 \u062c\u0644\u0648\u06cc \u0631\u0628\u0627\u062a<\/h3>\n

    \u0633\u0646\u0633\u0648\u0631 HC-SR04 \u0628\u0627\u06cc\u062f \u062f\u0642\u06cc\u0642\u0627\u064b \u0631\u0648 \u0628\u0647 \u062c\u0644\u0648 \u0648 \u0645\u0648\u0627\u0632\u06cc \u0628\u0627 \u0632\u0645\u06cc\u0646 \u0646\u0635\u0628 \u0634\u0648\u062f. \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0622\u0646 \u0631\u0627 \u0628\u0627 \u062f\u0648\u0637\u0631\u0641\u200c\u0686\u0633\u0628 \u06cc\u0627 \u0628\u0631\u0627\u06a9\u062a \u067e\u0644\u0627\u0633\u062a\u06cc\u06a9\u06cc \u062c\u0644\u0648\u06cc \u0634\u0627\u0633\u06cc \u0628\u0628\u0646\u062f\u06cc\u062f. \u0627\u06af\u0631 \u0633\u0631\u0648\u0648 SG90 \u062f\u0627\u0631\u06cc\u062f\u060c \u0622\u0646 \u0631\u0627 \u0632\u06cc\u0631 \u0633\u0646\u0633\u0648\u0631 \u0646\u0635\u0628 \u06a9\u0646\u06cc\u062f \u062a\u0627 \u0633\u0646\u0633\u0648\u0631 \u0628\u062a\u0648\u0627\u0646\u062f \u0686\u067e \u0648 \u0631\u0627\u0633\u062a \u0631\u0627 \u0647\u0645 \u0627\u0633\u06a9\u0646 \u06a9\u0646\u062f.<\/p>\n

    \u0645\u0631\u062d\u0644\u0647 \u06f4 \u2014 \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u06a9\u0627\u0645\u0644<\/h3>\n

    \u062c\u062f\u0648\u0644 \u0627\u062a\u0635\u0627\u0644\u0627\u062a:<\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u067e\u06cc\u0646 \u0642\u0637\u0639\u0647<\/th>\n\u067e\u06cc\u0646 Arduino Nano<\/th>\n<\/tr>\n<\/thead>\n
    HC-SR04<\/td>\nVCC<\/td>\n5V<\/td>\n<\/tr>\n
    HC-SR04<\/td>\nGND<\/td>\nGND<\/td>\n<\/tr>\n
    HC-SR04<\/td>\nTrig<\/td>\nD9<\/td>\n<\/tr>\n
    HC-SR04<\/td>\nEcho<\/td>\nD10<\/td>\n<\/tr>\n
    L298N<\/td>\nIN1<\/td>\nD5<\/td>\n<\/tr>\n
    L298N<\/td>\nIN2<\/td>\nD6<\/td>\n<\/tr>\n
    L298N<\/td>\nIN3<\/td>\nD7<\/td>\n<\/tr>\n
    L298N<\/td>\nIN4<\/td>\nD8<\/td>\n<\/tr>\n
    L298N<\/td>\nENA \/ ENB<\/td>\n5V (\u0641\u0639\u0627\u0644 \u062b\u0627\u0628\u062a) \u06cc\u0627 D3\/D11 \u0628\u0631\u0627\u06cc PWM<\/td>\n<\/tr>\n
    L298N<\/td>\n12V \/ GND<\/td>\n\u0628\u0627\u062a\u0631\u06cc \u0645\u0633\u062a\u0642\u06cc\u0645<\/td>\n<\/tr>\n
    L298N<\/td>\n5V OUT<\/td>\nVIN \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 (\u0627\u06af\u0631 \u0648\u0644\u062a\u0627\u0698 \u0628\u0627\u062a\u0631\u06cc \u2264 \u06f1\u06f2V)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u0645\u0631\u062d\u0644\u0647 \u06f5 \u2014 \u0622\u067e\u0644\u0648\u062f \u06a9\u062f<\/h3>\n

    Arduino IDE \u0631\u0627 \u0628\u0627\u0632 \u06a9\u0646\u06cc\u062f\u060c \u0628\u0631\u062f \u0631\u0627 \u0631\u0648\u06cc Arduino Nano<\/code> \u0648 \u067e\u0631\u0648\u0633\u0633\u0648\u0631 \u0631\u0627 \u0631\u0648\u06cc ATmega328P (Old Bootloader)<\/code> \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f. \u06a9\u062f \u0632\u06cc\u0631 \u0631\u0627 \u06a9\u067e\u06cc \u06a9\u0646\u06cc\u062f \u0648 \u0622\u067e\u0644\u0648\u062f \u06a9\u0646\u06cc\u062f:<\/p>\n

    \u06a9\u062f \u06a9\u0627\u0645\u0644<\/h2>\n
    \n\/\/ \u0631\u0628\u0627\u062a \u062a\u0634\u062e\u06cc\u0635 \u0645\u0627\u0646\u0639 \u0628\u0627 HC-SR04 \u0648 L298N\n\/\/ \u067e\u0631\u0648\u0698\u0647 \u0622\u0645\u0648\u0632\u0634\u06cc \u2014 Project Leon\n\nconst int TRIG = 9;\nconst int ECHO = 10;\nconst int IN1  = 5;\nconst int IN2  = 6;\nconst int IN3  = 7;\nconst int IN4  = 8;\nconst int ENA  = 3;   \/\/ PWM \u0628\u0631\u0627\u06cc \u0633\u0631\u0639\u062a \u0645\u0648\u062a\u0648\u0631 \u0686\u067e\nconst int ENB  = 11;  \/\/ PWM \u0628\u0631\u0627\u06cc \u0633\u0631\u0639\u062a \u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a\n\nconst int STOP_DIST   = 20;  \/\/ \u0633\u0627\u0646\u062a\u06cc\u200c\u0645\u062a\u0631 \u2014 \u0627\u06af\u0631 \u06a9\u0645\u062a\u0631 \u0627\u0632 \u0627\u06cc\u0646 \u0634\u062f\u060c \u0628\u0627\u06cc\u0633\u062a\nconst int SPEED_FULL  = 200; \/\/ 0\u2013255\nconst int SPEED_TURN  = 180;\n\nfloat getDistance() {\n  digitalWrite(TRIG, LOW);\n  delayMicroseconds(2);\n  digitalWrite(TRIG, HIGH);\n  delayMicroseconds(10);\n  digitalWrite(TRIG, LOW);\n  long duration = pulseIn(ECHO, HIGH, 25000); \/\/ timeout 25ms\n  if (duration == 0) return 400; \/\/ \u0633\u0646\u0633\u0648\u0631 \u0686\u06cc\u0632\u06cc \u0646\u062f\u06cc\u062f \u2014 \u0645\u0633\u06cc\u0631 \u0628\u0627\u0632\n  return duration * 0.0343 \/ 2.0;\n}\n\nvoid moveForward() {\n  analogWrite(ENA, SPEED_FULL); analogWrite(ENB, SPEED_FULL);\n  digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW);\n  digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW);\n}\n\nvoid stopMotors() {\n  analogWrite(ENA, 0); analogWrite(ENB, 0);\n  digitalWrite(IN1, LOW); digitalWrite(IN2, LOW);\n  digitalWrite(IN3, LOW); digitalWrite(IN4, LOW);\n}\n\nvoid turnRight() {\n  analogWrite(ENA, SPEED_TURN); analogWrite(ENB, SPEED_TURN);\n  digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW);  \/\/ \u0645\u0648\u062a\u0648\u0631 \u0686\u067e \u062c\u0644\u0648\n  digitalWrite(IN3, LOW);  digitalWrite(IN4, HIGH); \/\/ \u0645\u0648\u062a\u0648\u0631 \u0631\u0627\u0633\u062a \u0639\u0642\u0628\n}\n\nvoid setup() {\n  Serial.begin(9600);\n  pinMode(TRIG, OUTPUT);\n  pinMode(ECHO, INPUT);\n  pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT);\n  pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT);\n  pinMode(ENA, OUTPUT); pinMode(ENB, OUTPUT);\n  Serial.println(\"Robot ready!\");\n}\n\nvoid loop() {\n  float d = getDistance();\n  Serial.print(\"Distance: \"); Serial.print(d); Serial.println(\" cm\");\n\n  if (d < STOP_DIST) {\n    stopMotors();\n    delay(300);\n    turnRight();\n    delay(500);\n    stopMotors();\n    delay(100);\n  } else {\n    moveForward();\n  }\n  delay(50);\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a \u0648 \u062a\u06cc\u0648\u0646<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647 \u0645\u0648\u0631\u062f \u0627\u0646\u062a\u0638\u0627\u0631<\/th>\n\u0627\u06af\u0631 \u062f\u0631\u0633\u062a \u0646\u0628\u0648\u062f<\/th>\n<\/tr>\n<\/thead>\n
    \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0631\u0627 \u0628\u0627\u0632 \u06a9\u0646\u06cc\u062f \u2014 \u0641\u0627\u0635\u0644\u0647 \u0646\u0645\u0627\u06cc\u0634 \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f\u061f<\/td>\n\u0639\u062f\u062f \u0628\u06cc\u0646 \u06f2 \u062a\u0627 \u06f4\u06f0\u06f0 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f<\/td>\n\u0633\u06cc\u0645\u200c\u0647\u0627\u06cc Trig\/Echo \u0631\u0627 \u0686\u06a9 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u0645\u0627\u0646\u0639 \u0631\u0627 \u062c\u0644\u0648\u06cc \u0633\u0646\u0633\u0648\u0631 \u0628\u06af\u0630\u0627\u0631\u06cc\u062f \u2014 \u0645\u06cc\u200c\u0627\u06cc\u0633\u062a\u062f\u061f<\/td>\n\u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0642\u0637\u0639 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f<\/td>\nSTOP_DIST \u0631\u0627 \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f<\/td>\n<\/tr>\n
    \u067e\u0633 \u0627\u0632 \u062a\u0648\u0642\u0641 \u2014 \u0645\u06cc\u200c\u067e\u06cc\u0686\u062f\u061f<\/td>\n\u062a\u0642\u0631\u06cc\u0628\u0627\u064b \u06f9\u06f0 \u062f\u0631\u062c\u0647 \u0645\u06cc\u200c\u0686\u0631\u062e\u062f<\/td>\ndelay \u0686\u0631\u062e\u0634 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u0631\u0628\u0627\u062a \u062e\u0637 \u0645\u0633\u062a\u0642\u06cc\u0645 \u0645\u06cc\u200c\u0631\u0648\u062f\u061f<\/td>\n\u06a9\u062c \u0646\u0645\u06cc\u200c\u0631\u0648\u062f<\/td>\nSPEED_FULL \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u062c\u062f\u0627\u06af\u0627\u0646\u0647 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u0645\u0648\u062a\u0648\u0631 \u06af\u0631\u0645 \u0646\u0645\u06cc\u200c\u0634\u0648\u062f\u061f<\/td>\n\u062f\u0645\u0627\u06cc \u0645\u0639\u0645\u0648\u0644\u06cc<\/td>\nSPEED_FULL \u0631\u0627 \u06a9\u0645 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nHC-SR04<\/text>\nArduino Nano<\/text>\n\u062a\u0635\u0645\u06cc\u0645\u200c\u06af\u06cc\u0631\u06cc<\/text>\nL298N<\/text>\n\u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631<\/text>\n\u0645\u0648\u062a\u0648\u0631\u0647\u0627<\/text>\n\u062d\u0631\u06a9\u062a<\/text>\n\u062c\u0631\u06cc\u0627\u0646 \u062f\u0627\u062f\u0647: \u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc \u2192 \u062a\u0635\u0645\u06cc\u0645 \u2192 \u0627\u062c\u0631\u0627<\/text>\n<\/svg><\/p>\n
    \u0627\u06cc\u062f\u0647\u200c\u0647\u0627\u06cc \u0627\u0631\u062a\u0642\u0627<\/h2>\n
      \n
    • \u0627\u0636\u0627\u0641\u0647 \u06a9\u0631\u062f\u0646 \u0633\u0631\u0648\u0648 SG90 \u0628\u0631\u0627\u06cc \u0686\u0631\u062e\u0634 \u0633\u0646\u0633\u0648\u0631 \u0648 \u0627\u0633\u06a9\u0646 \u0686\u067e\/\u0631\u0627\u0633\u062a \u0642\u0628\u0644 \u0627\u0632 \u062a\u0635\u0645\u06cc\u0645\u200c\u06af\u06cc\u0631\u06cc<\/li>\n
    • \u0627\u0641\u0632\u0648\u062f\u0646 \u0633\u0646\u0633\u0648\u0631 IR \u0628\u0631\u0627\u06cc \u062a\u0634\u062e\u06cc\u0635 \u0644\u0628\u0647 \u0645\u06cc\u0632 (Cliff Detection)<\/li>\n
    • \u0646\u0645\u0627\u06cc\u0634 \u0641\u0627\u0635\u0644\u0647 \u0631\u0648\u06cc \u0635\u0641\u062d\u0647 OLED 128\u00d764<\/li>\n
    • \u0627\u0636\u0627\u0641\u0647 \u06a9\u0631\u062f\u0646 \u0645\u0627\u0698\u0648\u0644 HC-05 Bluetooth \u0628\u0631\u0627\u06cc \u0646\u0638\u0627\u0631\u062a \u0627\u0632 \u06af\u0648\u0634\u06cc<\/li>\n
    • \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 \u06a9\u0631\u062f\u0646 L298N \u0628\u0627 BTS7960 \u0628\u0631\u0627\u06cc \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc \u0642\u0648\u06cc\u200c\u062a\u0631<\/li>\n<\/ul>\n
      \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
      \n