ROBOT SEGUIDOR DE LINEAS MINI PCB

int PwmDer=3;
int MotorDerAt=4;
int MotorDerAd=5;
int STBY=6; //Solo para el puente H TB6612 FNG
int MotorIzqAd=7;
int MotorIzqAt=8;
int PwmIzq=9;

//VELOCIDAD
int VelDer=120;
int VelIzq=120;

//SENSORES INFRARROJO
int SensorDer=19;
int SensorIzq=18;

void setup() {
pinMode (PwmDer,OUTPUT);
pinMode (MotorDerAt,OUTPUT);
pinMode (MotorDerAd,OUTPUT);
pinMode (STBY,OUTPUT);
pinMode (MotorIzqAd,OUTPUT);
pinMode (MotorIzqAt,OUTPUT);
pinMode (PwmIzq,OUTPUT);

pinMode (SensorIzq,INPUT);
pinMode (SensorDer,INPUT);
Serial.begin(9600);
}

void loop() {
//Para el sensor infrarrojo LOW = BLANCO HIGH = NEGRO
if(digitalRead(SensorIzq)==LOW && digitalRead(SensorDer)==LOW)
{
adelante();
}
if(digitalRead(SensorIzq)==HIGH && digitalRead(SensorDer)==LOW)
{
izquierda();
}
if(digitalRead(SensorIzq)==LOW && digitalRead(SensorDer)==HIGH)
{
derecha();
}
if(digitalRead(SensorIzq)==HIGH && digitalRead(SensorDer)==HIGH)
{
parar();
}
}
void adelante() {
analogWrite (PwmDer,VelDer);
digitalWrite (MotorDerAd,HIGH);
digitalWrite (MotorDerAt,LOW);
digitalWrite (STBY,HIGH);
digitalWrite (MotorIzqAd,HIGH);
digitalWrite (MotorIzqAt,LOW);
analogWrite (PwmIzq,VelIzq);
}

void atras() {
analogWrite (PwmDer,VelDer);
digitalWrite (MotorDerAd,LOW);
digitalWrite (MotorDerAt,HIGH);
digitalWrite (STBY,HIGH);
digitalWrite (MotorIzqAd,LOW);
digitalWrite (MotorIzqAt,HIGH);
analogWrite (PwmIzq,VelIzq);
}

void izquierda() {
analogWrite (PwmDer,VelDer);
digitalWrite (MotorDerAd,HIGH);
digitalWrite (MotorDerAt,LOW);
digitalWrite (STBY,HIGH);
digitalWrite (MotorIzqAd,LOW);
digitalWrite (MotorIzqAt,HIGH);
analogWrite (PwmIzq,VelIzq);
}

void derecha() {
analogWrite (PwmDer,VelDer);
digitalWrite (MotorDerAd,LOW);
digitalWrite (MotorDerAt,HIGH);
digitalWrite (STBY,HIGH);
digitalWrite (MotorIzqAd,HIGH);
digitalWrite (MotorIzqAt,LOW);
analogWrite (PwmIzq,VelIzq);
}

void parar() {
analogWrite (PwmDer,VelDer);
digitalWrite (MotorDerAd,LOW);
digitalWrite (MotorDerAt,LOW);
digitalWrite (STBY,LOW);
digitalWrite (MotorIzqAd,LOW);
digitalWrite (MotorIzqAt,LOW);
analogWrite (PwmIzq,VelIzq);

}
 ROBOT SEGUIDOR DE LINEAS

Sensor infrarrojo
TCRT5000
Soldadura de motores
Motor Izquierda

Motor Derecha
B1 B2 A2 A1

5V
P10 (Trig)
P11 (Echo)
Gnd

Gnd P2

P12

State
RX
TX
5V
GND
Enable
P13

OFF

Gnd P14 P15 P16 P17 P18 P19 P20 P21 ON

Paralelos

5V 5V
Gnd Gnd

GND 12V