/*
by ahmed Azouz
https://www.instructables.com/id/How-to-Make-Ardu...
Download the lib from here first
https://github.com/ErickSimoes/Ultrasonic/blob/ma...
*/
#include Ultrasonic.h
Ultrasonic ultrasonic(4,3);
const int IN1=5;
const int IN2=6;
const int IN3=9;
const int IN4=10;
#define IR_sensor_front A0 // front sensor
#define IR_sensor_back A1 // rear senson
int distance ;
void setup()
{
Serial.begin(9600);
delay (5000); // as per sumo compat roles
}
void loop()
{
int IR_front = analogRead(IR_sensor_front);
int IR_back = analogRead(IR_sensor_back);
distance = ultrasonic.read();
ROTATE(200); // start rotete if (distance < 20){
Stop();
while (distance < 20 ) {
FORWARD(255);
distance = ultrasonic.read();
IR_front = analogRead(IR_sensor_front);
IR_back = analogRead(IR_sensor_back);
if ( IR_front > 650 || IR_back > 650 ) { break;}
delay(10); }
if (IR_front < 650 ) // < 650 means white line
{
Stop();
delay (50);
BACKWARD(255);
delay (500);
}
if (IR_back < 650 ) //
{
Stop();
delay (50);
FORWARD(255);
delay (500);
}
/* ----------- debugging ----------------
Serial.print(ultrasonic.Ranging(CM));
Serial.println("cm");
Serial.println("IR front :");
Serial.println(IR_front);
Serial.println("IR back :");
Serial.println(IR_back);
*/
} //--------------------------------------------
void FORWARD (int Speed){
//When we want to let Motor To move forward,
// just void this part on the loop section .
analogWrite(IN1,Speed);
analogWrite(IN2,0);
analogWrite(IN3,0);
analogWrite(IN4,Speed);
}//--------------------------------------------
void BACKWARD (int Speed){
//When we want to let Motor To move forward,
// just void this part on the loop section .
analogWrite(IN1,0);
analogWrite(IN2,Speed);
analogWrite(IN3,Speed);
analogWrite(IN4,0);
}//--------------------------------------------
void ROTATE (int Speed)
{
//When we want to let Motor To Rotate ,
// just void this part on the loop section .
analogWrite(IN1,Speed);
analogWrite(IN2,0);
analogWrite(IN3,Speed);
analogWrite(IN4,0);
}//--------------------------------------------
void Stop(){
//When we want to Motor To stop ,
// just void this part on the loop section .
analogWrite(IN1,0);
analogWrite(IN2,0);
analogWrite(IN3,0);
analogWrite(IN4,0);
}
