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Line_Following_Car.ino
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Line_Following_Car.ino
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#include <NewPing.h>
#include <Servo.h>
#include <AFMotor.h>
//hc-sr04 sensor
#define TRIGGER_PIN A4
#define ECHO_PIN A3
#define max_distance 50
//ir sensor
#define irLeft A2
#define irRight A1
//motor
#define MAX_SPEED 10
#define MAX_SPEED_OFFSET 20
Servo servo;
NewPing sonar(TRIGGER_PIN, ECHO_PIN, max_distance);
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);
int distance = 0;
int leftDistance;
int rightDistance;
boolean object;
void setup() {
Serial.begin(9600);
pinMode(irLeft, INPUT);
pinMode(irRight, INPUT);
servo.attach(10);
servo.write(90);
}
void loop() {
if (digitalRead(irLeft) == 0 && digitalRead(irRight) == 0 ) {
objectAvoid();
//forword
}
else if (digitalRead(irLeft) == 0 && digitalRead(irRight) == 1 ) {
objectAvoid();
Serial.println("TL");
//leftturn
moveLeft();
}
else if (digitalRead(irLeft) == 1 && digitalRead(irRight) == 0 ) {
objectAvoid();
Serial.println("TR");
//rightturn
moveRight();
}
else if (digitalRead(irLeft) == 1 && digitalRead(irRight) == 1 ) {
//Stop
Stop();
}
}
void objectAvoid() {
distance = getDistance();
if (distance <= 30) {
//stop
Stop();
Serial.println("Stop");
lookLeft();
lookRight();
delay(100);
if (rightDistance <= leftDistance) {
//left
object = true;
turn();
Serial.println("moveLeft");
} else {
//right
object = false;
turn();
Serial.println("moveRight");
}
delay(100);
}
else {
//forword
Serial.println("moveforword");
moveForward2();
}
}
int getDistance() {
delay(50);
int cm = sonar.ping_cm();
if (cm == 0) {
cm = 100;
}
return cm;
}
int lookLeft () {
//lock left
servo.write(150);
delay(500);
leftDistance = getDistance();
delay(100);
servo.write(90);
Serial.print("Left:");
Serial.print(leftDistance);
return leftDistance;
delay(100);
}
int lookRight() {
//lock right
servo.write(30);
delay(500);
rightDistance = getDistance();
delay(100);
servo.write(90);
Serial.print(" ");
Serial.print("Right:");
Serial.println(rightDistance);
return rightDistance;
delay(100);
}
void Stop() {
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
}
void moveForward() {
motor1.setSpeed(90);
motor2.setSpeed(90);
motor3.setSpeed(90);
motor4.setSpeed(90);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
void moveForward2() {
motor1.setSpeed(70);
motor2.setSpeed(70);
motor3.setSpeed(70);
motor4.setSpeed(70);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
void moveBackward() {
motor1.setSpeed(120);
motor2.setSpeed(120);
motor3.setSpeed(120);
motor4.setSpeed(120);
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
}
void moveRight() {
motor1.setSpeed(150);
motor4.setSpeed(150);
motor1.run(BACKWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(BACKWARD);
}
void moveLeft() {
motor2.setSpeed(150);
motor3.setSpeed(150);
motor1.run(FORWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(FORWARD);
}
void moveRight2() {
motor1.setSpeed(150);
motor4.setSpeed(150);
motor1.run(BACKWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(BACKWARD);
}
void moveLeft2() {
motor2.setSpeed(150);
motor3.setSpeed(150);
motor1.run(FORWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(FORWARD);
}
void turn() {
if (object == false) {
Serial.println("turn Right");
moveBackward();
delay(10);
moveLeft();
delay(400);
moveForward();
delay(800);
moveRight();
delay(600);
if ((digitalRead(irRight) == 1) || (digitalRead(irLeft) == 1)) {
Stop();
delay(8000);
loop();
}
else {
moveForward2();
}
}
else {
Serial.println("turn left");
moveBackward();
delay(10);
moveRight();
delay(400);
moveForward();
delay(800);
moveLeft();
delay(600);
if ((digitalRead(irRight) == 1) || (digitalRead(irLeft) == 1)) {
Stop();
delay(8000);
loop();
}
else {
moveForward2();
}
}
}