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  • LFR Code

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    Chiranjeev Singh
    8 views2 pages
    This document contains code for controlling the motors of a robot to follow a black line. It defines integer variables to represent motor pins and sensor thresholds. The setup function initializes the motor pins as outputs and sensor pins as inputs. Functions are defined to move the robot forward, turn left or right, and turn in a circle. The loop function reads the sensor values, and uses conditional statements to call the appropriate motor control function depending on the sensor values to track the black line.

    Original Description:

    Code for a Line Following Robot

    Original Title

    LFR code

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    This document contains code for controlling the motors of a robot to follow a black line. It defines integer variables to represent motor pins and sensor thresholds. The setup function initializes the motor pins as outputs and sensor pins as inputs. Functions are defined to move the robot forward, turn left or right, and turn in a circle. The loop function reads the sensor values, and uses conditional statements to call the appropriate motor control function depending on the sensor values to track the black line.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    8 views2 pages

    LFR Code

    Uploaded by

    Chiranjeev Singh
    This document contains code for controlling the motors of a robot to follow a black line. It defines integer variables to represent motor pins and sensor thresholds. The setup function initializes the motor pins as outputs and sensor pins as inputs. Functions are defined to move the robot forward, turn left or right, and turn in a circle. The loop function reads the sensor values, and uses conditional statements to call the appropriate motor control function depending on the sensor values to track the black line.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 2

    int lMotFwd=12;

    int rMotFwd=6;
    int lMotRev=13;
    int rMotRev=7;

    int onblack= 100; // reading for black line from sensor is less than this
    int onWhite= 700; // reading for white line is greater than this

    void setup() {

    Serial.begin(9600);

    // pinMode(A0,INPUT);
    pinMode(A1,INPUT); //extreme left sensor
    pinMode(A2,INPUT);
    pinMode(A3,INPUT); // middle sensor
    pinMode(A4,INPUT);
    pinMode(A5,INPUT); // extreme right sensor

    pinMode(lMotFwd,OUTPUT);
    pinMode(rMotFwd,OUTPUT);
    pinMode(lMotRev,OUTPUT);
    pinMode(rMotRev,OUTPUT);

    void moveForward()
    {
    digitalWrite(lMotFwd,HIGH);
    digitalWrite(rMotFwd,HIGH);
    }

    void turnLeft()
    {
    digitalWrite(lMotFwd,LOW);
    digitalWrite(rMotFwd,HIGH);
    }

    void turnRight()
    {
    digitalWrite(lMotFwd,HIGH);
    digitalWrite(rMotFwd,LOW);
    }

    void turnCircle()
    {
    digitalWrite(lMotFwd,LOW);
    digitalWrite(rMotFwd,LOW);
    digitalWrite(lMotRev,HIGH);
    digitalWrite(rMotFwd,HIGH);
    }

    void Stop()
    {

    digitalWrite(lMotFwd,LOW);
    digitalWrite(rMotFwd,LOW);
    digitalWrite(lMotRev,LOW);
    digitalWrite(rMotRev,LOW);

    void loop() {
    // put your main code here, to run repeatedly:

    int sensor1=analogRead(A1);//sensor1
    int sensor2=analogRead(A2);//sensor2
    int sensor3=analogRead(A3);//sensor3
    int sensor4=analogRead(A4);//sensor4
    int sensor5=analogRead(A5);//sensor5

    Serial.println(sensor1);

    if((sensor5<onblack)&&(sensor2<onblack||sensor3<onblack||sensor4<onblack))
    {

    turnLeft();
    }else
    if((sensor1>onWhite && sensor5>onWhite)&&(sensor2<onblack||sensor3<onblack||
    sensor4<onblack))
    {moveForward();
    }else
    if((sensor5<onblack))
    {
    turnLeft();

    }else
    if(sensor1<onblack)
    {
    turnRight();
    }
    else
    if( sensor1>onWhite && sensor5>onWhite && sensor2<onWhite && sensor2<onWhite &&
    sensor4<onWhite)
    {
    moveForward();
    delay(15);

    turnCircle();
    delay(40);

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