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Coding Robot Line Follower

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.

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rochmat38
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© © All Rights Reserved
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Download as DOCX, PDF, TXT or read online on Scribd
13 views

Coding Robot Line Follower

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.

Uploaded by

rochmat38
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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#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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