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    Coding Robot Line Follower

    Uploaded by

    rochmat38
    The document describes code for an Arduino robot that uses ultrasonic sensors and IR sensors to navigate and avoid objects. It defines pins for sensors and motors, includes libraries, and contains functions for movement, sensing distances, and object avoidance.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd

    Coding Robot Line Follower

    Uploaded by

    rochmat38
    10 views7 pages
    The document describes code for an Arduino robot that uses ultrasonic sensors and IR sensors to navigate and avoid objects. It defines pins for sensors and motors, includes libraries, and contains functions for movement, sensing distances, and object avoidance.

    Original Title

    coding robot line follower

    Copyright

    © © All Rights Reserved

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    DOCX, PDF, TXT or read online from Scribd

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    The document describes code for an Arduino robot that uses ultrasonic sensors and IR sensors to navigate and avoid objects. It defines pins for sensors and motors, includes libraries, and contains functions for movement, sensing distances, and object avoidance.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    10 views7 pages

    Coding Robot Line Follower

    Uploaded by

    rochmat38
    The document describes code for an Arduino robot that uses ultrasonic sensors and IR sensors to navigate and avoid objects. It defines pins for sensors and motors, includes libraries, and contains functions for movement, sensing distances, and object avoidance.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 7

    #include <NewPing.

    h>

    #include <Servo.h>

    #include <AFMotor.h>

    //hc-sr04 sensor

    #define TRIGGER_PIN A2

    #define ECHO_PIN A3

    #define max_distance 50

    //ir sensor

    #define irLeft A0

    #define irRight A1

    //motor

    #define MAX_SPEED 200

    #define MAX_SPEED_OFFSET 20

    Servo servo;

    NewPing sonar(TRIGGER_PIN, ECHO_PIN, max_distance);

    AF_DCMotor motor1(1, MOTOR12_1KHZ);

    AF_DCMotor motor2(2, MOTOR12_1KHZ);

    AF_DCMotor motor3(3, MOTOR34_1KHZ);

    AF_DCMotor motor4(4, MOTOR34_1KHZ);

    int distance = 0;

    int leftDistance;

    int rightDistance;

    boolean object;
    void setup() {

    Serial.begin(9600);

    pinMode(irLeft, INPUT);

    pinMode(irRight, INPUT);

    servo.attach(10);

    servo.write(90);

    motor1.setSpeed(120);

    motor2.setSpeed(120);

    motor3.setSpeed(120);

    motor4.setSpeed(120);

    void loop() {

    if (digitalRead(irLeft) == 0 && digitalRead(irRight) == 0 ) {

    objectAvoid();

    //forword

    else if (digitalRead(irLeft) == 0 && digitalRead(irRight) == 1 ) {

    objectAvoid();

    Serial.println("TL");

    //leftturn

    moveLeft();

    else if (digitalRead(irLeft) == 1 && digitalRead(irRight) == 0 ) {

    objectAvoid();

    Serial.println("TR");

    //rightturn

    moveRight();

    }
    else if (digitalRead(irLeft) == 1 && digitalRead(irRight) == 1 ) {

    //Stop

    Stop();

    void objectAvoid() {

    distance = getDistance();

    if (distance <= 15) {

    //stop

    Stop();

    Serial.println("Stop");

    lookLeft();

    lookRight();

    delay(100);

    if (rightDistance <= leftDistance) {

    //left

    object = true;

    turn();

    Serial.println("moveLeft");

    } else {

    //right

    object = false;

    turn();

    Serial.println("moveRight");

    delay(100);

    else {

    //forword
    Serial.println("moveforword");

    moveForward();

    int getDistance() {

    delay(50);

    int cm = sonar.ping_cm();

    if (cm == 0) {

    cm = 100;

    return cm;

    int lookLeft () {

    //lock left

    servo.write(150);

    delay(500);

    leftDistance = getDistance();

    delay(100);

    servo.write(90);

    Serial.print("Left:");

    Serial.print(leftDistance);

    return leftDistance;

    delay(100);

    int lookRight() {

    //lock right

    servo.write(30);

    delay(500);
    rightDistance = getDistance();

    delay(100);

    servo.write(90);

    Serial.print(" ");

    Serial.print("Right:");

    Serial.println(rightDistance);

    return rightDistance;

    delay(100);

    void Stop() {

    motor1.run(RELEASE);

    motor2.run(RELEASE);

    motor3.run(RELEASE);

    motor4.run(RELEASE);

    void moveForward() {

    motor1.run(FORWARD);

    motor2.run(FORWARD);

    motor3.run(FORWARD);

    motor4.run(FORWARD);

    void moveBackward() {

    motor1.run(BACKWARD);

    motor2.run(BACKWARD);

    motor3.run(BACKWARD);

    motor4.run(BACKWARD);

    void turn() {

    if (object == false) {

    Serial.println("turn Right");
    moveLeft();

    delay(700);

    moveForward();

    delay(800);

    moveRight();

    delay(900);

    if (digitalRead(irRight) == 1) {

    loop();

    } else {

    moveForward();

    else {

    Serial.println("turn left");

    moveRight();

    delay(700);

    moveForward();

    delay(800);

    moveLeft();

    delay(900);

    if (digitalRead(irLeft) == 1) {

    loop();

    } else {

    moveForward();

    void moveRight() {

    motor1.run(BACKWARD);

    motor2.run(BACKWARD);

    motor3.run(FORWARD);
    motor4.run(FORWARD);

    void moveLeft() {

    motor1.run(FORWARD);

    motor2.run(FORWARD);

    motor3.run(BACKWARD);

    motor4.run(BACKWARD);

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