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3 Senor Max

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adinadadad512
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13 views3 pages

3 Senor Max

Uploaded by

adinadadad512
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <AFMotor.

h>
AF_DCMotor motor1(1, MOTOR12_64KHZ);
AF_DCMotor motor2(2, MOTOR12_64KHZ);
AF_DCMotor motor3(3, MOTOR34_64KHZ);
AF_DCMotor motor4(4, MOTOR34_64KHZ);

// Define pins for the three IR sensors


int leftSensor = A0;
int centerSensor = A1;
int rightSensor = A2;

void setup()
{
Serial.begin(9600);

// Set motor speeds


motor1.setSpeed(160);
motor2.setSpeed(160);
motor3.setSpeed(160);
motor4.setSpeed(160);

// Set IR sensor pins as input


pinMode(leftSensor, INPUT);
pinMode(centerSensor, INPUT);
pinMode(rightSensor, INPUT);
}

void loop()
{
// Read sensor values
int leftValue = digitalRead(leftSensor);
int centerValue = digitalRead(centerSensor);
int rightValue = digitalRead(rightSensor);

// Print sensor values for debugging


Serial.print("Left: "); Serial.print(leftValue);
Serial.print(" | Center: "); Serial.print(centerValue);
Serial.print(" | Right: "); Serial.println(rightValue);

// Line following logic

// Case 1: If center sensor is on the line, go straight


if(centerValue == LOW && leftValue == HIGH && rightValue == HIGH)
{
moveForward();
}
// Case 2: If left sensor is on the line, turn right
else if(leftValue == LOW && centerValue == HIGH && rightValue == HIGH)
{
turnRight();
}
// Case 3: If right sensor is on the line, turn left
else if(rightValue == LOW && centerValue == HIGH && leftValue == HIGH)
{
turnLeft();
}
// Case 4: If left and center sensors are on the line, turn slightly right
(correcting)
else if(leftValue == LOW && centerValue == LOW && rightValue == HIGH)
{
slightRight();
}
// Case 5: If right and center sensors are on the line, turn slightly left
(correcting)
else if(rightValue == LOW && centerValue == LOW && leftValue == HIGH)
{
slightLeft();
}
// Case 6: If no sensors detect the black line, keep moving forward
else if(leftValue == HIGH && centerValue == HIGH && rightValue == HIGH)
{
moveForward();
}
// Default case: Stop the robot (optional, rarely triggered)
else
{
stopMotors();
}

delay(10); // Small delay to allow the robot to react smoothly


}

// Function to move forward


void moveForward()
{
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}

// Function to turn left


void turnLeft()
{
motor1.run(FORWARD); // Left motors stop or slow down
motor2.run(RELEASE); // Right motors move forward
motor3.run(FORWARD);
motor4.run(RELEASE);
}

// Function to turn right


void turnRight()
{
motor1.run(RELEASE); // Right motors stop or slow down
motor2.run(FORWARD); // Left motors move forward
motor3.run(RELEASE);
motor4.run(FORWARD);
}

// Function to make a slight right adjustment


void slightRight()
{
motor1.run(FORWARD); // Left motors move forward slowly
motor2.run(FORWARD);
motor3.run(FORWARD); // Right motors move slower
motor4.run(RELEASE);
}
// Function to make a slight left adjustment
void slightLeft()
{
motor1.run(FORWARD); // Left motors move slower
motor2.run(RELEASE); // Right motors move forward
motor3.run(FORWARD);
motor4.run(FORWARD);
}

// Function to stop all motors


void stopMotors()
{
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
}

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