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March 20, 2023 04:27
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| enum INFRARED_SENSORS{IR_1 = 2, IR_2 = 3}; | |
| enum MOTORS{M1_enA = 5, M1_in1 = 9, M1_in2 = 10, M2_enB = 6, M2_in3 = 11, M2_in4 = 12}; | |
| // -------------------------------- defining pins ----------------------------------- | |
| extern int M1[3] = {M1_enA, M1_in1, M1_in2}; | |
| extern int M2[3] = {M2_enB, M2_in3, M2_in4}; | |
| // DC motor pins (motor driver pins) | |
| int IR1_reading, IR2_reading; | |
| int LEFT, RIGHT; | |
| void moveLEFT(int motor1[3], int motor2[3]); | |
| void moveRIGHT(int motor1[3], int motor2[3]); | |
| void moveFORWARD(int motor1[3], int motor2[3]); | |
| void moveBACKWARD(int motor1[3], int motor2[3]); | |
| void STOP(int motor1[3], int motor2[3]); | |
| void setup(){ | |
| Serial.begin(9600); | |
| pinMode(IR_1, INPUT); | |
| pinMode(IR_2, INPUT); | |
| for (int i = 0; i < 3; ++i){ // setting each Motor Driver pin as OUTPUT | |
| pinMode(M1[i], OUTPUT); | |
| pinMode(M2[i], OUTPUT); | |
| } | |
| for (int i = 1; i < 3; ++i){ // setting Motor Driver's output pins as LOW | |
| digitalWrite(M1[i], LOW); | |
| digitalWrite(M2[i], LOW); | |
| } | |
| analogWrite(M1[0], 180); | |
| analogWrite(M2[0], 180); // Maximum speed for both DC Motors | |
| IR1_reading = IR2_reading = 0; | |
| LEFT = RIGHT = 0; | |
| TCCR0B = TCCR0B & B11111000 | B00000010 ; | |
| } | |
| void loop(){ | |
| IR1_reading = digitalRead(IR_1); | |
| IR2_reading = digitalRead(IR_2); | |
| LEFT = IR1_reading; | |
| RIGHT = IR2_reading; | |
| while (LEFT || RIGHT){ // absence of light is detected | |
| if (LEFT && RIGHT){ | |
| moveFORWARD(M1, M2); | |
| } | |
| else if(!LEFT && RIGHT){ // absence of light on LEFT and presence of light on RIGHT | |
| moveLEFT(M1, M2); | |
| } | |
| else if(LEFT && !RIGHT){ // presence of light on LEFT and absence of light on RIGHT | |
| moveRIGHT(M1, M2); | |
| } | |
| IR1_reading = digitalRead(IR_1); | |
| IR2_reading = digitalRead(IR_2); | |
| LEFT = IR1_reading; | |
| RIGHT = IR2_reading; | |
| // re-take the readings | |
| } | |
| STOP(M1, M2); // STOP if no strip is detected | |
| } | |
| void moveFORWARD(int leftMotor[3], int rightMotor[3]){ | |
| /* setting Left and Right motors to move forward*/ | |
| digitalWrite(leftMotor[1], HIGH); | |
| digitalWrite(leftMotor[2], LOW); | |
| digitalWrite(rightMotor[1], HIGH); | |
| digitalWrite(rightMotor[2], LOW); | |
| Serial.println("Black Strip! Move Forward!"); | |
| } | |
| void moveBACKWARD(int leftMotor[3], int rightMotor[3]){ | |
| /* setting Left and Right motors to move backward */ | |
| // has no use currently | |
| digitalWrite(leftMotor[1], LOW); | |
| digitalWrite(leftMotor[2], HIGH); | |
| digitalWrite(rightMotor[1], LOW); | |
| digitalWrite(rightMotor[2], HIGH); | |
| Serial.println("Obstacle! Move Backword!"); | |
| } | |
| void STOP(int motorPins1[3], int motorPins2[3]){ | |
| for (int i = 1; i < 3; ++i){ | |
| digitalWrite(motorPins1[i], LOW); | |
| digitalWrite(motorPins2[i], LOW); | |
| } | |
| Serial.println("Stop!"); | |
| } | |
| void moveLEFT(int leftMotor[3], int rightMotor[3]){ | |
| /* set Left motor on reverse and Right motor on forward to move Left */ | |
| digitalWrite(leftMotor[1], LOW); | |
| digitalWrite(leftMotor[2], LOW); | |
| digitalWrite(rightMotor[1], LOW); | |
| digitalWrite(rightMotor[2], HIGH); | |
| Serial.println("Move Left!"); | |
| } | |
| void moveRIGHT(int leftMotor[3], int rightMotor[3]){ | |
| /* set Left motor on forward and Right motor on reverse to move Right */ | |
| digitalWrite(leftMotor[1], LOW); | |
| digitalWrite(leftMotor[2], HIGH); | |
| digitalWrite(rightMotor[1], LOW); | |
| digitalWrite(rightMotor[2], LOW); | |
| Serial.println("Move Right!"); | |
| } |
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