// BASIC CODE ..............................................
FIRST
TRY THIS ONE AT 1
#define IR_SENSOR_RIGHT 11
#define IR_SENSOR_LEFT 12
#define MOTOR_SPEED 180
int enableRightMotor = 6;
int rightMotorPin1 = 7;
int rightMotorPin2 = 8;
int enableLeftMotor = 5;
int leftMotorPin1 = 9;
int leftMotorPin2 = 10;
// Define states for the robot
enum RobotState {
STRAIGHT,
TURN_LEFT,
TURN_RIGHT,
REVERSE
};
RobotState robotState = STRAIGHT;
unsigned long lastStateChangeTime = 0;
unsigned long turnDuration = 1000; // Adjust as needed for your robot
void setup() {
// Change the PWM frequency
TCCR0B = TCCR0B & B11111000 | B00000010;
// Set up pins
pinMode(enableRightMotor, OUTPUT);
pinMode(rightMotorPin1, OUTPUT);
pinMode(rightMotorPin2, OUTPUT);
pinMode(enableLeftMotor, OUTPUT);
pinMode(leftMotorPin1, OUTPUT);
pinMode(leftMotorPin2, OUTPUT);
pinMode(IR_SENSOR_RIGHT, INPUT);
pinMode(IR_SENSOR_LEFT, INPUT);
rotateMotor(0, 0);
}
void loop() {
int rightIRSensorValue = digitalRead(IR_SENSOR_RIGHT);
int leftIRSensorValue = digitalRead(IR_SENSOR_LEFT);
unsigned long currentTime = millis();
// Implement the state machine
switch (robotState) {
case STRAIGHT:
if (rightIRSensorValue == HIGH && leftIRSensorValue == HIGH) {
rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
} else if (rightIRSensorValue == LOW && leftIRSensorValue == HIGH) {
robotState = TURN_RIGHT;
lastStateChangeTime = currentTime;
} else if (rightIRSensorValue == HIGH && leftIRSensorValue == LOW) {
robotState = TURN_LEFT;
lastStateChangeTime = currentTime;
} else {
robotState = REVERSE;
lastStateChangeTime = currentTime;
}
break;
case TURN_RIGHT:
rotateMotor(MOTOR_SPEED, -MOTOR_SPEED);
// Check if it's time to transition back to STRAIGHT
if (currentTime - lastStateChangeTime >= turnDuration) {
robotState = STRAIGHT;
}
break;
case TURN_LEFT:
rotateMotor(-MOTOR_SPEED, MOTOR_SPEED);
// Check if it's time to transition back to STRAIGHT
if (currentTime - lastStateChangeTime >= turnDuration) {
robotState = STRAIGHT;
}
break;
case REVERSE:
rotateMotor(-MOTOR_SPEED, -MOTOR_SPEED);
// Check if it's time to transition back to STRAIGHT
if (currentTime - lastStateChangeTime >= turnDuration) {
robotState = STRAIGHT;
}
break;
}
}
void rotateMotor(int rightMotorSpeed, int leftMotorSpeed) {
// Motor control logic
if (rightMotorSpeed < 0) {
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, HIGH);
} else if (rightMotorSpeed > 0) {
digitalWrite(rightMotorPin1, HIGH);
digitalWrite(rightMotorPin2, LOW);
} else {
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, LOW);
}
if (leftMotorSpeed < 0) {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, HIGH);
} else if (leftMotorSpeed > 0) {
digitalWrite(leftMotorPin1, HIGH);
digitalWrite(leftMotorPin2, LOW);
} else {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, LOW);
}
analogWrite(enableRightMotor, abs(rightMotorSpeed));
analogWrite(enableLeftMotor, abs(leftMotorSpeed));
}
// TO RECORD PATH FOLLOW
LINE ...................................................... TRY IF ABOVE WORKS 2
#define IR_SENSOR_LEFT 11
#define IR_SENSOR_RIGHT 12
#define MOTOR_SPEED 180
int irSensorLeftState = LOW;
int irSensorRightState = LOW;
int recordedPath[100]; // Array to store the recorded path
int pathIndex = 0;
int enableRightMotor = 6;
int rightMotorPin1 = 7;
int rightMotorPin2 = 8;
int enableLeftMotor = 5;
int leftMotorPin1 = 9;
int leftMotorPin2 = 10;
void setup() {
pinMode(IR_SENSOR_LEFT, INPUT);
pinMode(IR_SENSOR_RIGHT, INPUT);
pinMode(enableRightMotor, OUTPUT);
pinMode(rightMotorPin1, OUTPUT);
pinMode(rightMotorPin2, OUTPUT);
pinMode(enableLeftMotor, OUTPUT);
pinMode(leftMotorPin1, OUTPUT);
pinMode(leftMotorPin2, OUTPUT);
Serial.begin(9600);
}
void loop() {
irSensorLeftState = digitalRead(IR_SENSOR_LEFT);
irSensorRightState = digitalRead(IR_SENSOR_RIGHT);
// Detect a transition in either sensor
if (irSensorLeftState != irSensorRightState) {
// Record the transition (1 for left sensor, 2 for right sensor)
recordedPath[pathIndex] = irSensorLeftState == LOW ? 1 : 2;
pathIndex++;
}
// Line following based on sensor readings
if (irSensorLeftState == HIGH && irSensorRightState == HIGH) {
// Both sensors detect the white path, go straight
rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
} else if (irSensorLeftState == LOW && irSensorRightState == HIGH) {
// Right sensor detects the white path, turn right
rotateMotor(-MOTOR_SPEED, MOTOR_SPEED);
} else if (irSensorLeftState == HIGH && irSensorRightState == LOW) {
// Left sensor detects the white path, turn left
rotateMotor(MOTOR_SPEED, -MOTOR_SPEED);
} else {
// Both sensors detect the black background, stop
rotateMotor(0, 0);
}
// Print the recorded path for debugging
Serial.print("Recorded Path: ");
for (int i = 0; i < pathIndex; i++) {
Serial.print(recordedPath[i]);
}
Serial.println();
// You may want to add some delay here to control the recording rate
delay(100);
}
void rotateMotor(int rightMotorSpeed, int leftMotorSpeed) {
// Motor control logic
if (rightMotorSpeed < 0) {
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, HIGH);
} else if (rightMotorSpeed > 0) {
digitalWrite(rightMotorPin1, HIGH);
digitalWrite(rightMotorPin2, LOW);
} else {
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, LOW);
}
if (leftMotorSpeed < 0) {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, HIGH);
} else if (leftMotorSpeed > 0) {
digitalWrite(leftMotorPin1, HIGH);
digitalWrite(leftMotorPin2, LOW);
} else {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, LOW);
}
analogWrite(enableRightMotor, abs(rightMotorSpeed));
analogWrite(enableLeftMotor, abs(leftMotorSpeed));
}
