//Include the library
#include <tcs3200.h>
/*
Initialize the variables
for colour sensor
*/
int red;
int green;
int blue;
String sensedColour = "none";
int delayTime = 500;
/*
Initialize the variables
for motor driver
*/
int leftMotorForward = 9;
int rightMotorForward = 10;
int RIR = 11;
int LIR = 12;
int redLED = 3;
int greeenLED = 13;
int redMarker = 0;
tcs3200 sensor(4, 5, 6, 7, 8); //S0, S1, S2, S3, output pin
void setup() {
pinMode(redLED, OUTPUT);
pinMode(leftMotorForward, OUTPUT);
pinMode(rightMotorForward, OUTPUT);
pinMode(RIR, INPUT);
pinMode(LIR, INPUT);
pinMode(greeenLED, OUTPUT);
red = sensor.colorRead('r', 20); //Scaling the sensor to 20%
Serial.begin(9600);
void loop() {
if(redMarker < 5){
readColour();
checkColour();
if((digitalRead(RIR) == 1)&&(digitalRead(LIR) == 1)){
front(); //A function to move the car front
delay(delayTime);
}
if((digitalRead(RIR) == 0)&&(digitalRead(LIR) == 1)){
right();
delay(delayTime);
}
if((digitalRead(RIR) == 1)&&(digitalRead(LIR) == 0)){
left();
delay(delayTime);
}
if((digitalRead(RIR) == 0)&&(digitalRead(LIR) == 0)){
front(); //A function to move the car front
delay(delayTime);
}
if (sensedColour == "red") { //If the colour is red…..
redMarker = redMarker + 1;
digitalWrite(redLED , HIGH);
digitalWrite(greenLED , LOW);
sensedColour = "none"; //Sets the sensed colour as ‘None’
if (sensedColour == "green") { //If the colour is green…..
digitalWrite(redLED , LOW);
digitalWrite(greenLED , HIGH);
sensedColour = "none"; //Sets the sensed colour as ‘None’
if(redMarker == 5){
stop();
}
}
}
//function to move the car forward
void front() {
digitalWrite(leftMotorForward, HIGH);
digitalWrite(rightMotorForward, HIGH);
delay(delayTime);
digitalWrite(leftMotorForward, LOW);
digitalWrite(rightMotorForward, LOW);
//function to turn the car left
void left() {
digitalWrite(leftMotorForward, LOW);
digitalWrite(rightMotorForward, HIGH);
delay(delayTime);
digitalWrite(leftMotorForward, LOW);
digitalWrite(rightMotorForward, LOW);
//function to turn the car right
void right() {
digitalWrite(leftMotorForward, HIGH);
digitalWrite(rightMotorForward, LOW);
delay(delayTime);
digitalWrite(leftMotorForward, LOW);
digitalWrite(rightMotorForward, LOW);
void stop() {
digitalWrite(leftMotorForward, LOW);
digitalWrite(rightMotorForward, LOW);
delay(delayTime);
}
//function to read the colour
void readColour() {
red = sensor.colorRead('r'); //reads colour value for red
green = sensor.colorRead('g'); //reads colour value for green
blue = sensor.colorRead('b'); //reads colour value for blue
//Prints the values on the serial monitor
Serial.print("R = ");
Serial.println(red);
Serial.print("G = ");
Serial.println(green);
Serial.print("B = ");
Serial.println(blue);
Serial.println(" ");
delay(10);
//sets the colour that is sensed
void checkColour() {
if (red > green && red > blue && red > 8) { //If the colour is red......
sensedColour = "red"; //Sets the value of this variable to “red”
else if (green > red && green > blue && green > 8) { //If the colour is
green......
sensedColour = "green"; //Sets the value of this variable to “green”
else if (blue > green && blue > red && blue > 8) { //If the colour is
blue......
sensedColour = "blue"; //Sets the value of this variable to “blue”
