// IR Sensors
int sensor1 = 2; // Left most sensor
int sensor2 = 3;
int sensor3 = 4;
int sensor4 = 5; // Right most sensor
// Initial Values of Sensors
int sensor[4] = {0, 0, 0, 0};
// Motor Variables
int ENA = 6;
int motorInput1 = 7;
int motorInput2 = 8;
int motorInput3 = 9;
int motorInput4 = 10;
int ENB = 11;
//Initial Speed of Motor
int initial_motor_speed = 140;
// Output Pins for Led
int ledPin1 = A3;
int ledPin2 = A4;
// PID Constants
float Kp = 25;
float Ki = 0;
float Kd = 15;
float error = 0, P = 0, I = 0, D = 0, PID_value = 0;
float previous_error = 0, previous_I = 0;
int flag = 0;
void setup()
{
pinMode(sensor1, INPUT);
pinMode(sensor2, INPUT);
pinMode(sensor3, INPUT);
pinMode(sensor4, INPUT);
pinMode(motorInput1, OUTPUT);
pinMode(motorInput2, OUTPUT);
pinMode(motorInput3, OUTPUT);
pinMode(motorInput4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(ledPin1, OUTPUT);
pinMode(ledPin2, OUTPUT);
digitalWrite(ledPin1, LOW);
digitalWrite(ledPin2, LOW);
Serial.begin(9600); //setting serial monitor at a default
baund rate of 9600
delay(500);
Serial.println("Started !!");
delay(1000);
}
void loop()
{
read_sensor_values();
Serial.print(error);
if (error == 100) { // Make left turn untill it detects straight
path
//Serial.print("\t");
//Serial.println("Left");
do {
read_sensor_values();
analogWrite(ENA, 110); //Left Motor Speed
analogWrite(ENB, 90); //Right Motor Speed
sharpLeftTurn();
} while (error != 0);
} else if (error == 101) { // Make right turn in case of it detects only
right path (it will go into forward direction in case of staright and right "|--")
// untill it detects straight path.
//Serial.print("\t");
//Serial.println("Right");
analogWrite(ENA, 110); //Left Motor Speed
analogWrite(ENB, 90); //Right Motor Speed
forward();
delay(200);
stop_bot();
read_sensor_values();
if (error == 102) {
do {
analogWrite(ENA, 110); //Left Motor Speed
analogWrite(ENB, 90); //Right Motor Speed
sharpRightTurn();
read_sensor_values();
} while (error != 0);
}
} else if (error == 102) { // Make left turn untill it detects straight
path
//Serial.print("\t");
//Serial.println("Sharp Left Turn");
do {
analogWrite(ENA, 110); //Left Motor Speed
analogWrite(ENB, 90); //Right Motor Speed
sharpLeftTurn();
read_sensor_values();
if (error == 0) {
stop_bot();
delay(200);
}
} while (error != 0);
} else if (error == 103) { // Make left turn untill it detects straight
path or stop if dead end reached.
if (flag == 0) {
analogWrite(ENA, 110); //Left Motor Speed
analogWrite(ENB, 90); //Right Motor Speed
forward();
delay(200);
stop_bot();
read_sensor_values();
if (error == 103) { /**** Dead End Reached, Stop! ****/
stop_bot();
digitalWrite(ledPin1, HIGH);
digitalWrite(ledPin2, HIGH);
flag = 1;
} else { /**** Move Left ****/
analogWrite(ENA, 110); //Left Motor Speed
analogWrite(ENB, 90); //Right Motor Speed
sharpLeftTurn();
delay(200);
do {
//Serial.print("\t");
//Serial.println("Left Here");
read_sensor_values();
analogWrite(ENA, 110); //Left Motor Speed
analogWrite(ENB, 90); //Right Motor Speed
sharpLeftTurn();
} while (error != 0);
}
}
} else {
calculate_pid();
motor_control();
}
}
void read_sensor_values()
{
sensor[0] = !digitalRead(sensor1);
sensor[1] = !digitalRead(sensor2);
sensor[2] = !digitalRead(sensor3);
sensor[3] = !digitalRead(sensor4);
/*
Serial.print(sensor[0]);
Serial.print("\t");
Serial.print(sensor[1]);
Serial.print("\t");
Serial.print(sensor[2]);
Serial.print("\t");
Serial.println(sensor[3]);*/
if ((sensor[0] == 1) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0))
error = 3;
else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 0) && (sensor[3]
== 0))
error = 2;
else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 0) && (sensor[3]
== 0))
error = 1;
else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3]
== 0))
error = 0;
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 1) && (sensor[3]
== 0))
error = -1;
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 1) && (sensor[3]
== 1))
error = -2;
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3]
== 1))
error = -3;
else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3]
== 0)) // Turn robot left side
error = 100;
else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3]
== 1)) // Turn robot right side
error = 101;
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3]
== 0)) // Make U turn
error = 102;
else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3]
== 1)) // Turn left side or stop
error = 103;
}
void calculate_pid()
{
P = error;
I = I + previous_I;
D = error - previous_error;
PID_value = (Kp * P) + (Ki * I) + (Kd * D);
previous_I = I;
previous_error = error;
}
void motor_control()
{
// Calculating the effective motor speed:
int left_motor_speed = initial_motor_speed - PID_value;
int right_motor_speed = initial_motor_speed + PID_value;
// The motor speed should not exceed the max PWM value
left_motor_speed = constrain(left_motor_speed, 0, 255);
right_motor_speed = constrain(right_motor_speed, 0, 255);
/*Serial.print(PID_value);
Serial.print("\t");
Serial.print(left_motor_speed);
Serial.print("\t");
Serial.println(right_motor_speed);*/
analogWrite(ENA, left_motor_speed); //Left Motor Speed
analogWrite(ENB, right_motor_speed - 30); //Right Motor Speed
//following lines of code are to make the bot move forward
forward();
}
void forward()
{
/*The pin numbers and high, low values might be different depending on your
connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, HIGH);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, HIGH);
}
void reverse()
{
/*The pin numbers and high, low values might be different depending on your
connections */
digitalWrite(motorInput1, HIGH);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, HIGH);
digitalWrite(motorInput4, LOW);
}
void right()
{
/*The pin numbers and high, low values might be different depending on your
connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, HIGH);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, LOW);
}
void left()
{
/*The pin numbers and high, low values might be different depending on your
connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, HIGH);
}
void sharpRightTurn() {
/*The pin numbers and high, low values might be different depending on your
connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, HIGH);
digitalWrite(motorInput3, HIGH);
digitalWrite(motorInput4, LOW);
}
void sharpLeftTurn() {
/*The pin numbers and high, low values might be different depending on your
connections */
digitalWrite(motorInput1, HIGH);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, HIGH);
}
void stop_bot()
{
/*The pin numbers and high, low values might be different depending on your
connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, LOW);
}
