Source Code
// Pin Definitions
const int potPin = A0; // Potentiometer connected to A0
const int switchPin = 13; // Switch connected to digital pin 2
const int irSensorPin = 3; // IR sensor connected to digital pin 3
const int trigPin = 4; // Ultrasonic sensor TRIG connected to digital pin 4
const int echoPin = 5; // Ultrasonic sensor ECHO connected to digital pin 5
// Variables
bool cruiseControl = false; // Cruise control toggle state
int cruiseSpeed = 50; // Cruise control speed in km/h
int potValue = 0; // Current potentiometer value
int speedValue = 0; // Current speed in km/h
int previousSpeed = 0; // Speed before obstacle detection
bool obstacleDetected = false; // IR sensor obstacle detection flag
long distance = 0; // Distance measured by ultrasonic sensor (in cm)
void setup() {
pinMode(switchPin, INPUT_PULLUP); // Use internal pull-up for switch
pinMode(irSensorPin, INPUT); // Set IR sensor pin as input
pinMode(trigPin, OUTPUT); // Set ultrasonic TRIG pin as output
pinMode(echoPin, INPUT); // Set ultrasonic ECHO pin as input
Serial.begin(9600); // Initialize serial communication
void loop() {
// Read switch state
int switchState = digitalRead(switchPin);
// Set cruise control based on switch state
cruiseControl = (switchState == LOW); // LOW means switch is ON
// Detect obstacle using IR sensor
obstacleDetected = digitalRead(irSensorPin) == LOW; // LOW means obstacle detected
// Measure distance using ultrasonic sensor
distance = getUltrasonicDistance();
// Determine speed based on sensors and controls
if (obstacleDetected || distance <= 20) {
// Stop the vehicle if an obstacle is detected or distance < 20 cm
previousSpeed = speedValue;
speedValue = 0;
} else {
if (cruiseControl) {
speedValue = cruiseSpeed; // Maintain cruise speed
} else {
potValue = analogRead(potPin); // Read potentiometer value (0-1023)
speedValue = map(potValue, 0, 1023, 0, 120); // Map to km/h range (0-120 km/h)
// Display information on Serial Monitor
Serial.println("=======================");
Serial.print("Cruise Control: ");
Serial.println(cruiseControl ? "ON" : "OFF");
Serial.print("Speed: ");
Serial.print(speedValue);
Serial.println(" km/h");
Serial.print("Distance to Object: ");
Serial.print(distance);
Serial.println(" cm");
if (obstacleDetected) {
Serial.println("Obstacle Detected by IR: STOP!");
if (distance <= 20) {
Serial.println("Obstacle Detected by Ultrasonic: STOP!");
Serial.println("=======================");
delay(1000); // Small delay for stability
// Function to measure distance using ultrasonic sensor
long getUltrasonicDistance() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
long duration = pulseIn(echoPin, HIGH); // Measure time for echo
long distance = duration * 0.034 / 2; // Convert to distance in cm
return distance;
