Report 7, Line Follower code

Now we have coded our test chassis to follow a black line on the ground. We are facing some problems following the line on uneven fields but we are working on it ... Our test subject drives around the Robotica lab & stops when it reaches a red line or an obstacle on the way. Film & photos will soon be posted here ...



Our next step is to code our test chassis to drive around & detects objects on its way and the smart enough to drive around them. For this purpose we have bough 4 reflex detectors to have around our chassis. More updates on the way ... Click on read more for the source code in Semi C++ Arduino programing language.




int pin_7 = 7;
int sens_r = 0;
int sens_l = 1;
int velocityPin = 5;
int velocity;


boolean motorEnable = false;


//MOTOR#2 -> LEFT & RIGHT
//MOTOR#1 -> FORWARD & BACKWARD
//OUTPUT PINS
byte IN1M1 = 2;//IN1 Motor1
byte IN2M1 = 4;//IN2 Motor1
byte IN1M2 = 11;//IN1 Motor2
byte IN2M2 = 9;//IN2 Motor2
byte ENM1 = 5;//enable signal Motor1
byte ENM2 = 10;//enable signal Motor2
byte PWMM1 = 3; //PWM Motor1
byte PWMM2 = 8; //PWM Motor2
byte ledPin =  13;    // LED connected to digital pin 13

int rightSensor, leftSensor;
int order = 0;
void setup(){

  pinMode(pin_7, INPUT);
  pinMode(sens_r, INPUT);
  pinMode(sens_l, INPUT);
  pinMode(velocityPin, INPUT);
  pinMode(IN1M1, OUTPUT);  //  MOTOR1 IN1
  pinMode(IN2M1, OUTPUT);  //  MOTOR1 IN2
  pinMode(IN1M2, OUTPUT);  //  MOTOR2 IN1
  pinMode(IN2M2, OUTPUT);  //  MOTOR2 IN2
  pinMode(ENM1, OUTPUT);  //  MOTOR1 Enable
  pinMode(ENM2, OUTPUT);  //  MOTOR2 Enable
  pinMode(PWMM1, OUTPUT);  //  MOTOR 1 PWM
  pinMode(PWMM2, OUTPUT);  //  MOTOR 2 PWM
  pinMode(ledPin, OUTPUT); //  LED

  digitalWrite(ENM1, HIGH);
  Serial.begin(115200);
  order = 0;


}

void loop(){
  //Value_ = digitalRead(pin_7);
  velocity = analogRead(velocityPin)/4;
  rightSensor = analogRead(sens_r);
  leftSensor = analogRead(sens_l);
  digitalWrite(IN1M1, LOW);
  digitalWrite(IN2M1, HIGH);
  analogWrite(PWMM1, velocity);
  digitalWrite(ledPin, HIGH);
  /*Serial.print("Right sensor is :");
  Serial.println(rightSensor);
  Serial.print("Left sensor is :");
  Serial.println(leftSensor);*/
//  Serial.print("Velocity is :");
//  Serial.println(velocity);
  //delay(200);
  if(rightSensor >220 && leftSensor > 220){
        analogWrite(PWMM1, velocity+70);
        order = 3;
  }
  else if ((rightSensor < 60) && (leftSensor < 60)){
    makeItStraight();
//    Serial.println("*** BOTH ON BLACK ***");
  }
  else if ((rightSensor < 60) && (leftSensor > 60)){//RIGHT BLACK
//    Serial.print("Left sensor is ON WHITE");
//    Serial.println(leftSensor);
    order = 2;
  }
  else if ((rightSensor > 60) && (leftSensor < 60)){//LEFT BLACK
//    Serial.print("Right sensor is ON WHITE");
//    Serial.println(rightSensor);
    order = 3;
  }
  else if ((rightSensor > 60) && (leftSensor > 60)){//ALL WHITE
    makeItStraight();
//    Serial.println("*** BOTH ON WHITE ***");
    /*Serial.println("Both sensors are highter than 200 -> the values are :");
    Serial.print("Left sensor is :");  
    Serial.println(rightSensor);
    Serial.print("Right sensor is : ");
    Serial.println(leftSensor);
  
    //order = 4;*/
  }
  comm();
  order = 0;
//  delay(50);
}

//***********************************

void comm()
{
    switch(order)
    {
    case 4://Forward, F pressed
//       Serial.println( "F pressed" );
       digitalWrite(IN1M1, LOW);
       digitalWrite(IN2M1, HIGH);
       digitalWrite(ENM1, HIGH);
       //digitalWrite(PWMM1,HIGH);
       analogWrite(PWMM1, velocity);
       digitalWrite(ledPin, HIGH);
       break;
    
    case 1://Back, B pressed
//       Serial.println( "B pressed" );    
       digitalWrite(IN1M1, HIGH);
       digitalWrite(IN2M1, LOW);
       digitalWrite(ENM1, HIGH);
       analogWrite(PWMM1, velocity);
       //digitalWrite(PWMM1,HIGH);
       digitalWrite(ledPin, HIGH);
       break;
    
    case 2://Right, R pressed
//       Serial.println( "R pressed" );
       digitalWrite(IN1M2, HIGH);
       digitalWrite(IN2M2, LOW);
       digitalWrite(ENM2, HIGH);
       analogWrite(PWMM2, 200);  
       digitalWrite(ledPin, HIGH);  
       break;    
    
    case 3://Left, L pressed
//       Serial.println( "L pressed" );
       digitalWrite(IN1M2, LOW);
       digitalWrite(IN2M2, HIGH);
       digitalWrite(ENM2, HIGH);
       analogWrite(PWMM2, 200);
       digitalWrite(ledPin, HIGH);  
       break;
    }
}

//***************** COMM     *****************************
//********************************************************
//***************** STOPCAR ******************************
void stopCar(){
  digitalWrite(13, LOW);
  digitalWrite(ENM1, LOW);
  digitalWrite(ENM2, LOW);
  order = 0 ;
  Serial.println( "Reseting the system");
  //delay(500);
}//end of stop
//************* STOPCAR ******************************
//****************************************************
//************* makeItStraight ***********************
void makeItStraight(){
  digitalWrite(ENM2, HIGH);
  digitalWrite(IN1M2, LOW);
  digitalWrite(IN2M2, LOW);
  digitalWrite(ENM2, LOW);
  Serial.println( "Straighting the wheels");
  //delay(500);
}//end of stop