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Line - Following - Robot (3) .Ino

Robot código

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naranjo.camila120
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7 views2 pages

Line - Following - Robot (3) .Ino

Robot código

Uploaded by

naranjo.camila120
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 IR_SENSOR_RIGHT 13

#define IR_SENSOR_LEFT 12
#define MOTOR_SPEED 180

//Right motor
int enableRightMotor=10;
int rightMotorPin1=4;
int rightMotorPin2=5;

//Left motor
int enableLeftMotor=11;
int leftMotorPin1=6;
int leftMotorPin2=7;

void setup()
{

TCCR0B = TCCR0B & B11111000 | B00000010 ; //This sets PWM frequecny as 7812.5
hz.

pinMode(enableRightMotor, OUTPUT);
pinMode(rightMotorPin1, OUTPUT);
pinMode(rightMotorPin2, OUTPUT);

pinMode(enableLeftMotor, OUTPUT);
pinMode(leftMotorPin1, OUTPUT);
pinMode(leftMotorPin2, OUTPUT);

pinMode(IR_SENSOR_RIGHT, INPUT);
pinMode(IR_SENSOR_LEFT, INPUT);
rotateMotor(0,0);
}

void loop()
{

int rightIRSensorValue = digitalRead(IR_SENSOR_RIGHT);


int leftIRSensorValue = digitalRead(IR_SENSOR_LEFT);

//If none of the sensors detects black line, then go straight


if (rightIRSensorValue == LOW && leftIRSensorValue == LOW)
{
rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
}
//If right sensor detects black line, then turn right
else if (rightIRSensorValue == HIGH && leftIRSensorValue == LOW )
{
rotateMotor(-MOTOR_SPEED, MOTOR_SPEED);
}
//If left sensor detects black line, then turn left
else if (rightIRSensorValue == LOW && leftIRSensorValue == HIGH )
{
rotateMotor(MOTOR_SPEED, -MOTOR_SPEED);
}
//If both the sensors detect black line, then stop
else
{
rotateMotor(0, 0);
}
}

void rotateMotor(int rightMotorSpeed, int leftMotorSpeed)


{

if (rightMotorSpeed < 0)
{
digitalWrite(rightMotorPin1,LOW);
digitalWrite(rightMotorPin2,HIGH);
}
else if (rightMotorSpeed > 0)
{
digitalWrite(rightMotorPin1,HIGH);
digitalWrite(rightMotorPin2,LOW);
}
else
{
digitalWrite(rightMotorPin1,LOW);
digitalWrite(rightMotorPin2,LOW);
}

if (leftMotorSpeed < 0)
{
digitalWrite(leftMotorPin1,LOW);
digitalWrite(leftMotorPin2,HIGH);
}
else if (leftMotorSpeed > 0)
{
digitalWrite(leftMotorPin1,HIGH);
digitalWrite(leftMotorPin2,LOW);
}
else
{
digitalWrite(leftMotorPin1,LOW);
digitalWrite(leftMotorPin2,LOW);
}
analogWrite(enableRightMotor, abs(rightMotorSpeed));
analogWrite(enableLeftMotor, abs(leftMotorSpeed));
}

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