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Code For Line Follower Robot Car

The document defines pin assignments and motor speeds for a robot that moves forward, backward, left, and right based on sensor input readings. Functions are defined to control the motor directions and speeds for each movement.

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Cycy Raga Bacalso
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26 views

Code For Line Follower Robot Car

The document defines pin assignments and motor speeds for a robot that moves forward, backward, left, and right based on sensor input readings. Functions are defined to control the motor directions and speeds for each movement.

Uploaded by

Cycy Raga Bacalso
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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#define in1 9

#define in2 8
#define in3 7
#define in4 6
#define enA 10
#define enB 5

int M1_Speed = 80; // speed of motor 1


int M2_Speed = 80; // speed of motor 2
int LeftRotationSpeed = 250; // Left Rotation Speed
int RightRotationSpeed = 250; // Right Rotation Speed

void setup() {

pinMode(in1,OUTPUT);
pinMode(in2,OUTPUT);
pinMode(in3,OUTPUT);
pinMode(in4,OUTPUT);

pinMode(enA,OUTPUT);
pinMode(enB,OUTPUT);

pinMode(A0, INPUT); // initialize Left sensor as an input


pinMode(A1, INPUT); // initialize Right sensor as an input

void loop() {

int LEFT_SENSOR = digitalRead(A0);


int RIGHT_SENSOR = digitalRead(A1);

if(RIGHT_SENSOR==0 && LEFT_SENSOR==0) {


forward(); //FORWARD
}

else if(RIGHT_SENSOR==0 && LEFT_SENSOR==1) {


right(); //Move Right
}

else if(RIGHT_SENSOR==1 && LEFT_SENSOR==0) {


left(); //Move Left
}

else if(RIGHT_SENSOR==1 && LEFT_SENSOR==1) {


Stop(); //STOP
}
}

void forward()
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(enA, M1_Speed);
analogWrite(enB, M2_Speed);
}

void backward()
{
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);

analogWrite(enA, M1_Speed);
analogWrite(enB, M2_Speed);
}

void right()
{
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);

analogWrite(enA, LeftRotationSpeed);
analogWrite(enB, RightRotationSpeed);
}

void left()
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);

analogWrite(enA, LeftRotationSpeed);
analogWrite(enB, RightRotationSpeed);
}

void Stop()
{
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}

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