Color Following Car

Ever wanted a car the drives semi-autonomously? There you have it! You only need two diffrent colored lines and it easy to programm it.

Aug 1, 2018

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Components and supplies

Breadboard (generic)

Color Sensor

Motor Shield V1

9V battery (generic)

DC motor (generic)

Tools and machines

Soldering iron (generic)

Apps and platforms

Arduino Web Editor

Arduino IDE

Project description

Code

Copie and Paste Auto Code V17

arduino

Thats the Coe for Copy and Paste. My Change at times.

1#include <AFMotor.h>
2AF_DCMotor motor1(1, MOTOR12_1KHZ);
3AF_DCMotor
4  motor2(3, MOTOR34_1KHZ);
5AF_DCMotor motor3(2, MOTOR12_1KHZ);
6AF_DCMotor motor4(4,
7  MOTOR34_1KHZ);
8//Farbe
9const int s0 = 47; //Conection for Sensor
10const
11  int s1 = 49;
12
13const int s2L = A14;
14const int s3L = A13;
15const int outL
16  = A15;
17
18int redL = 0; //Variablen for Left LEDs named
19int greenL = 0;
20int
21  blueL = 0;
22
23const int s2R = A11;
24const int s3R = A10;
25const int outR
26  = A12;
27
28int redR = 0; //Variablen for Right LEDs named
29int greenR = 0;
30int
31  blueR = 0;
32
33const int s2b = A8;
34const int s3b = A7;
35const int outb =
36  A9;
37
38int redb = 0; //Variablen for Right LEDs named
39int greenb = 0;
40int
41  blueb = 0;
42
43int sensor_left = 0;
44int sensor_right = 0;
45int sensor_back
46  = 0;
47
48void setup()
49
50{
51
52  Serial.begin(9600); //Serielle Kommunikation
53  
54
55  pinMode(s0, OUTPUT);
56  pinMode(s1, OUTPUT);
57  digitalWrite(s0, HIGH);
58
59  digitalWrite(s1, HIGH);
60
61  pinMode(s2L, OUTPUT);
62  pinMode(s3L, OUTPUT);
63
64  pinMode(outL, INPUT);
65
66  pinMode(s2R, OUTPUT);
67  pinMode(s3R, OUTPUT);
68
69  pinMode(outR, INPUT);
70
71  pinMode(s2b, OUTPUT);
72  pinMode(s3b, OUTPUT);
73
74  pinMode(outb, INPUT);
75
76
77
78}
79
80void loop()
81{
82  color();
83
84
85  { //detection
86    { //Sensor Left
87      if (blueL <= 10 && redL >= 11 &&
88  greenL >= 11 && blueL < redL && blueL < greenL)
89
90      {
91        sensor_left
92  = 1;
93      }
94      else
95      {
96        sensor_left = 0;
97      }
98
99    }
100
101    { //Sensor Right
102      if (blueR <= 10 && redR >= 11 && greenR
103  >= 11 && blueR < redR && blueR < greenR)
104
105      {
106        sensor_right
107  = 1;
108      }
109      else
110      {
111        sensor_right = 0;
112      }
113
114    }
115      { //Sensor Back
116      if (blueb <= 10 && redb >= 11 && greenb
117  >= 11 && blueb < redb && blueb < greenb)
118
119      {
120        sensor_back =
121  1;
122      }
123      else
124      {
125        sensor_back = 0;
126      }
127
128    }
129  }
130  { //Drive
131if (sensor_left ==1 or sensor_right==1)
132{
133
134    Found:
135if (sensor_left == 1 && sensor_right == 1 or sensor_left == 1 && sensor_right
136  == 1 && sensor_back == 0)
137    {//Straightforward
138      Straightforward:
139
140      motor1.setSpeed(150);
141      motor2.setSpeed(150);
142      motor3.setSpeed(150);
143
144      motor4.setSpeed(150);
145      motor1.run(FORWARD);
146      motor2.run(FORWARD);
147
148      motor3.run(FORWARD);
149      motor4.run(FORWARD);
150      delay(7);
151
152      motor1.run(RELEASE);
153      motor2.run(RELEASE);
154      motor3.run(RELEASE);
155
156      motor4.run(RELEASE);
157      Serial.print(" Straightforward ");
158    }
159
160    else if (sensor_left == 0 && sensor_right == 1)
161    {//Right Curve
162      motor1.setSpeed(225);
163
164      motor2.setSpeed(225);
165      motor3.setSpeed(200);
166      motor4.setSpeed(200);
167
168      motor1.run(BACKWARD);
169      motor2.run(BACKWARD);
170      motor3.run(FORWARD);
171
172      motor4.run(FORWARD);
173      delay(7);
174      motor1.run(RELEASE);
175
176      motor2.run(RELEASE);
177      motor3.run(RELEASE);
178      motor4.run(RELEASE);
179
180      Serial.print(" Right Curve ");
181    }
182    else if (sensor_left == 1
183  && sensor_right == 0)
184    {//Left Curve
185      motor1.setSpeed(200);
186      motor2.setSpeed(200);
187
188      motor3.setSpeed(225);
189      motor4.setSpeed(225);
190      motor1.run(FORWARD);
191
192      motor2.run(FORWARD);
193      motor3.run(BACKWARD);
194      motor4.run(BACKWARD);
195
196      delay(7);
197      motor1.run(RELEASE);
198      motor2.run(RELEASE);
199
200      motor3.run(RELEASE);
201      motor4.run(RELEASE);
202      Serial.print("
203  Left Curve "); 
204    }
205  } 
206  else if (sensor_left == 0 && sensor_right
207  == 0 && sensor_back == 1)
208  {
209//Backward
210      motor1.setSpeed(160);
211
212      motor2.setSpeed(160);
213      motor3.setSpeed(150);
214      motor4.setSpeed(150);
215
216      motor1.run(BACKWARD);
217      motor2.run(BACKWARD);
218      motor3.run(BACKWARD);
219
220      motor4.run(BACKWARD);
221      delay (7);
222      Serial.print(" Backward
223  "); 
224  }
225  else
226  {
227    
228  }
229  }
230}
231void color() 
232
233{
234
235
236  { //Left Sensor
237    digitalWrite(s2L, LOW);
238    digitalWrite(s3L, LOW);
239
240    redL = pulseIn(outL, digitalRead(outL) == HIGH ? LOW : HIGH);
241    digitalWrite(s3L,
242  HIGH);
243    blueL = pulseIn(outL, digitalRead(outL) == HIGH ? LOW : HIGH);
244
245    digitalWrite(s2L, HIGH);
246    greenL = pulseIn(outL, digitalRead(outL) ==
247  HIGH ? LOW : HIGH);
248  }
249
250  { //Right Sensor
251    digitalWrite(s2R, LOW);
252
253    digitalWrite(s3R, LOW);
254    redR = pulseIn(outR, digitalRead(outR) == HIGH
255  ? LOW : HIGH);
256    digitalWrite(s3R, HIGH);
257    blueR = pulseIn(outR, digitalRead(outR)
258  == HIGH ? LOW : HIGH);
259    digitalWrite(s2R, HIGH);
260    greenR = pulseIn(outR,
261  digitalRead(outR) == HIGH ? LOW : HIGH);
262  }
263    { //Back Sensor
264    digitalWrite(s2b,
265  LOW);
266    digitalWrite(s3b, LOW);
267    redb = pulseIn(outb, digitalRead(outb)
268  == HIGH ? LOW : HIGH);
269    digitalWrite(s3b, HIGH);
270    blueb = pulseIn(outb,
271  digitalRead(outb) == HIGH ? LOW : HIGH);
272    digitalWrite(s2b, HIGH);
273    greenb
274  = pulseIn(outb, digitalRead(outb) == HIGH ? LOW : HIGH);
275  }
276}

#include <AFMotor.h>
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor
  motor2(3, MOTOR34_1KHZ);
AF_DCMotor motor3(2, MOTOR12_1KHZ);
AF_DCMotor motor4(4,
  MOTOR34_1KHZ);
//Farbe
const int s0 = 47; //Conection for Sensor
const
  int s1 = 49;

const int s2L = A14;
const int s3L = A13;
const int outL
  = A15;

int redL = 0; //Variablen for Left LEDs named
int greenL = 0;
int
  blueL = 0;

const int s2R = A11;
const int s3R = A10;
const int outR
  = A12;

int redR = 0; //Variablen for Right LEDs named
int greenR = 0;
int
  blueR = 0;

const int s2b = A8;
const int s3b = A7;
const int outb =
  A9;

int redb = 0; //Variablen for Right LEDs named
int greenb = 0;
int
  blueb = 0;

int sensor_left = 0;
int sensor_right = 0;
int sensor_back
  = 0;

void setup()

{

  Serial.begin(9600); //Serielle Kommunikation
  

  pinMode(s0, OUTPUT);
  pinMode(s1, OUTPUT);
  digitalWrite(s0, HIGH);

  digitalWrite(s1, HIGH);

  pinMode(s2L, OUTPUT);
  pinMode(s3L, OUTPUT);

  pinMode(outL, INPUT);

  pinMode(s2R, OUTPUT);
  pinMode(s3R, OUTPUT);

  pinMode(outR, INPUT);

  pinMode(s2b, OUTPUT);
  pinMode(s3b, OUTPUT);

  pinMode(outb, INPUT);



}

void loop()
{
  color();


  { //detection
    { //Sensor Left
      if (blueL <= 10 && redL >= 11 &&
  greenL >= 11 && blueL < redL && blueL < greenL)

      {
        sensor_left
  = 1;
      }
      else
      {
        sensor_left = 0;
      }

    }

    { //Sensor Right
      if (blueR <= 10 && redR >= 11 && greenR
  >= 11 && blueR < redR && blueR < greenR)

      {
        sensor_right
  = 1;
      }
      else
      {
        sensor_right = 0;
      }

    }
      { //Sensor Back
      if (blueb <= 10 && redb >= 11 && greenb
  >= 11 && blueb < redb && blueb < greenb)

      {
        sensor_back =
  1;
      }
      else
      {
        sensor_back = 0;
      }

    }
  }
  { //Drive
if (sensor_left ==1 or sensor_right==1)
{

    Found:
if (sensor_left == 1 && sensor_right == 1 or sensor_left == 1 && sensor_right
  == 1 && sensor_back == 0)
    {//Straightforward
      Straightforward:

      motor1.setSpeed(150);
      motor2.setSpeed(150);
      motor3.setSpeed(150);

      motor4.setSpeed(150);
      motor1.run(FORWARD);
      motor2.run(FORWARD);

      motor3.run(FORWARD);
      motor4.run(FORWARD);
      delay(7);

      motor1.run(RELEASE);
      motor2.run(RELEASE);
      motor3.run(RELEASE);

      motor4.run(RELEASE);
      Serial.print(" Straightforward ");
    }

    else if (sensor_left == 0 && sensor_right == 1)
    {//Right Curve
      motor1.setSpeed(225);

      motor2.setSpeed(225);
      motor3.setSpeed(200);
      motor4.setSpeed(200);

      motor1.run(BACKWARD);
      motor2.run(BACKWARD);
      motor3.run(FORWARD);

      motor4.run(FORWARD);
      delay(7);
      motor1.run(RELEASE);

      motor2.run(RELEASE);
      motor3.run(RELEASE);
      motor4.run(RELEASE);

      Serial.print(" Right Curve ");
    }
    else if (sensor_left == 1
  && sensor_right == 0)
    {//Left Curve
      motor1.setSpeed(200);
      motor2.setSpeed(200);

      motor3.setSpeed(225);
      motor4.setSpeed(225);
      motor1.run(FORWARD);

      motor2.run(FORWARD);
      motor3.run(BACKWARD);
      motor4.run(BACKWARD);

      delay(7);
      motor1.run(RELEASE);
      motor2.run(RELEASE);

      motor3.run(RELEASE);
      motor4.run(RELEASE);
      Serial.print("
  Left Curve "); 
    }
  } 
  else if (sensor_left == 0 && sensor_right
  == 0 && sensor_back == 1)
  {
//Backward
      motor1.setSpeed(160);

      motor2.setSpeed(160);
      motor3.setSpeed(150);
      motor4.setSpeed(150);

      motor1.run(BACKWARD);
      motor2.run(BACKWARD);
      motor3.run(BACKWARD);

      motor4.run(BACKWARD);
      delay (7);
      Serial.print(" Backward
  "); 
  }
  else
  {
    
  }
  }
}
void color() 

{


  { //Left Sensor
    digitalWrite(s2L, LOW);
    digitalWrite(s3L, LOW);

    redL = pulseIn(outL, digitalRead(outL) == HIGH ? LOW : HIGH);
    digitalWrite(s3L,
  HIGH);
    blueL = pulseIn(outL, digitalRead(outL) == HIGH ? LOW : HIGH);

    digitalWrite(s2L, HIGH);
    greenL = pulseIn(outL, digitalRead(outL) ==
  HIGH ? LOW : HIGH);
  }

  { //Right Sensor
    digitalWrite(s2R, LOW);

    digitalWrite(s3R, LOW);
    redR = pulseIn(outR, digitalRead(outR) == HIGH
  ? LOW : HIGH);
    digitalWrite(s3R, HIGH);
    blueR = pulseIn(outR, digitalRead(outR)
  == HIGH ? LOW : HIGH);
    digitalWrite(s2R, HIGH);
    greenR = pulseIn(outR,
  digitalRead(outR) == HIGH ? LOW : HIGH);
  }
    { //Back Sensor
    digitalWrite(s2b,
  LOW);
    digitalWrite(s3b, LOW);
    redb = pulseIn(outb, digitalRead(outb)
  == HIGH ? LOW : HIGH);
    digitalWrite(s3b, HIGH);
    blueb = pulseIn(outb,
  digitalRead(outb) == HIGH ? LOW : HIGH);
    digitalWrite(s2b, HIGH);
    greenb
  = pulseIn(outb, digitalRead(outb) == HIGH ? LOW : HIGH);
  }
}

Copie and Paste Auto Code V17

arduino

Thats the Coe for Copy and Paste. My Change at times.

1#include <AFMotor.h>
2AF_DCMotor motor1(1, MOTOR12_1KHZ);
3AF_DCMotor  motor2(3, MOTOR34_1KHZ);
4AF_DCMotor motor3(2, MOTOR12_1KHZ);
5AF_DCMotor motor4(4,  MOTOR34_1KHZ);
6//Farbe
7const int s0 = 47; //Conection for Sensor
8const  int s1 = 49;
9
10const int s2L = A14;
11const int s3L = A13;
12const int outL  = A15;
13
14int redL = 0; //Variablen for Left LEDs named
15int greenL = 0;
16int  blueL = 0;
17
18const int s2R = A11;
19const int s3R = A10;
20const int outR  = A12;
21
22int redR = 0; //Variablen for Right LEDs named
23int greenR = 0;
24int  blueR = 0;
25
26const int s2b = A8;
27const int s3b = A7;
28const int outb =  A9;
29
30int redb = 0; //Variablen for Right LEDs named
31int greenb = 0;
32int  blueb = 0;
33
34int sensor_left = 0;
35int sensor_right = 0;
36int sensor_back  = 0;
37
38void setup()
39
40{
41
42  Serial.begin(9600); //Serielle Kommunikation  
43
44  pinMode(s0, OUTPUT);
45  pinMode(s1, OUTPUT);
46  digitalWrite(s0, HIGH);
47  digitalWrite(s1, HIGH);
48
49  pinMode(s2L, OUTPUT);
50  pinMode(s3L, OUTPUT);
51  pinMode(outL, INPUT);
52
53  pinMode(s2R, OUTPUT);
54  pinMode(s3R, OUTPUT);
55  pinMode(outR, INPUT);
56
57  pinMode(s2b, OUTPUT);
58  pinMode(s3b, OUTPUT);
59  pinMode(outb, INPUT);
60
61
62
63}
64
65void loop()
66{
67  color();
68
69  { //detection
70    { //Sensor Left
71      if (blueL <= 10 && redL >= 11 &&  greenL >= 11 && blueL < redL && blueL < greenL)
72
73      {
74        sensor_left  = 1;
75      }
76      else
77      {
78        sensor_left = 0;
79      }
80    }
81
82    { //Sensor Right
83      if (blueR <= 10 && redR >= 11 && greenR  >= 11 && blueR < redR && blueR < greenR)
84
85      {
86        sensor_right  = 1;
87      }
88      else
89      {
90        sensor_right = 0;
91      }
92    }
93      { //Sensor Back
94      if (blueb <= 10 && redb >= 11 && greenb  >= 11 && blueb < redb && blueb < greenb)
95
96      {
97        sensor_back =  1;
98      }
99      else
100      {
101        sensor_back = 0;
102      }
103    }
104  }
105  { //Drive
106if (sensor_left ==1 or sensor_right==1)
107{
108    Found:
109if (sensor_left == 1 && sensor_right == 1 or sensor_left == 1 && sensor_right  == 1 && sensor_back == 0)
110    {//Straightforward
111      Straightforward:
112      motor1.setSpeed(150);
113      motor2.setSpeed(150);
114      motor3.setSpeed(150);
115      motor4.setSpeed(150);
116      motor1.run(FORWARD);
117      motor2.run(FORWARD);
118      motor3.run(FORWARD);
119      motor4.run(FORWARD);
120      delay(7);
121      motor1.run(RELEASE);
122      motor2.run(RELEASE);
123      motor3.run(RELEASE);
124      motor4.run(RELEASE);
125      Serial.print(" Straightforward ");
126    }
127    else if (sensor_left == 0 && sensor_right == 1)
128    {//Right Curve
129      motor1.setSpeed(225);
130      motor2.setSpeed(225);
131      motor3.setSpeed(200);
132      motor4.setSpeed(200);
133      motor1.run(BACKWARD);
134      motor2.run(BACKWARD);
135      motor3.run(FORWARD);
136      motor4.run(FORWARD);
137      delay(7);
138      motor1.run(RELEASE);
139      motor2.run(RELEASE);
140      motor3.run(RELEASE);
141      motor4.run(RELEASE);
142      Serial.print(" Right Curve ");
143    }
144    else if (sensor_left == 1  && sensor_right == 0)
145    {//Left Curve
146      motor1.setSpeed(200);
147      motor2.setSpeed(200);
148      motor3.setSpeed(225);
149      motor4.setSpeed(225);
150      motor1.run(FORWARD);
151      motor2.run(FORWARD);
152      motor3.run(BACKWARD);
153      motor4.run(BACKWARD);
154      delay(7);
155      motor1.run(RELEASE);
156      motor2.run(RELEASE);
157      motor3.run(RELEASE);
158      motor4.run(RELEASE);
159      Serial.print("  Left Curve "); 
160    }
161  } 
162  else if (sensor_left == 0 && sensor_right  == 0 && sensor_back == 1)
163  {
164//Backward
165      motor1.setSpeed(160);
166      motor2.setSpeed(160);
167      motor3.setSpeed(150);
168      motor4.setSpeed(150);
169      motor1.run(BACKWARD);
170      motor2.run(BACKWARD);
171      motor3.run(BACKWARD);
172      motor4.run(BACKWARD);
173      delay (7);
174      Serial.print(" Backward  "); 
175  }
176  else
177  {
178    
179  }
180  }
181}
182void color() 
183
184{
185
186  { //Left Sensor
187    digitalWrite(s2L, LOW);
188    digitalWrite(s3L, LOW);
189    redL = pulseIn(outL, digitalRead(outL) == HIGH ? LOW : HIGH);
190    digitalWrite(s3L,  HIGH);
191    blueL = pulseIn(outL, digitalRead(outL) == HIGH ? LOW : HIGH);
192    digitalWrite(s2L, HIGH);
193    greenL = pulseIn(outL, digitalRead(outL) ==  HIGH ? LOW : HIGH);
194  }
195
196  { //Right Sensor
197    digitalWrite(s2R, LOW);
198    digitalWrite(s3R, LOW);
199    redR = pulseIn(outR, digitalRead(outR) == HIGH  ? LOW : HIGH);
200    digitalWrite(s3R, HIGH);
201    blueR = pulseIn(outR, digitalRead(outR)  == HIGH ? LOW : HIGH);
202    digitalWrite(s2R, HIGH);
203    greenR = pulseIn(outR,  digitalRead(outR) == HIGH ? LOW : HIGH);
204  }
205    { //Back Sensor
206    digitalWrite(s2b,  LOW);
207    digitalWrite(s3b, LOW);
208    redb = pulseIn(outb, digitalRead(outb)  == HIGH ? LOW : HIGH);
209    digitalWrite(s3b, HIGH);
210    blueb = pulseIn(outb,  digitalRead(outb) == HIGH ? LOW : HIGH);
211    digitalWrite(s2b, HIGH);
212    greenb  = pulseIn(outb, digitalRead(outb) == HIGH ? LOW : HIGH);
213  }
214}

#include <AFMotor.h>
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor  motor2(3, MOTOR34_1KHZ);
AF_DCMotor motor3(2, MOTOR12_1KHZ);
AF_DCMotor motor4(4,  MOTOR34_1KHZ);
//Farbe
const int s0 = 47; //Conection for Sensor
const  int s1 = 49;

const int s2L = A14;
const int s3L = A13;
const int outL  = A15;

int redL = 0; //Variablen for Left LEDs named
int greenL = 0;
int  blueL = 0;

const int s2R = A11;
const int s3R = A10;
const int outR  = A12;

int redR = 0; //Variablen for Right LEDs named
int greenR = 0;
int  blueR = 0;

const int s2b = A8;
const int s3b = A7;
const int outb =  A9;

int redb = 0; //Variablen for Right LEDs named
int greenb = 0;
int  blueb = 0;

int sensor_left = 0;
int sensor_right = 0;
int sensor_back  = 0;

void setup()

{

  Serial.begin(9600); //Serielle Kommunikation  

  pinMode(s0, OUTPUT);
  pinMode(s1, OUTPUT);
  digitalWrite(s0, HIGH);
  digitalWrite(s1, HIGH);

  pinMode(s2L, OUTPUT);
  pinMode(s3L, OUTPUT);
  pinMode(outL, INPUT);

  pinMode(s2R, OUTPUT);
  pinMode(s3R, OUTPUT);
  pinMode(outR, INPUT);

  pinMode(s2b, OUTPUT);
  pinMode(s3b, OUTPUT);
  pinMode(outb, INPUT);



}

void loop()
{
  color();

  { //detection
    { //Sensor Left
      if (blueL <= 10 && redL >= 11 &&  greenL >= 11 && blueL < redL && blueL < greenL)

      {
        sensor_left  = 1;
      }
      else
      {
        sensor_left = 0;
      }
    }

    { //Sensor Right
      if (blueR <= 10 && redR >= 11 && greenR  >= 11 && blueR < redR && blueR < greenR)

      {
        sensor_right  = 1;
      }
      else
      {
        sensor_right = 0;
      }
    }
      { //Sensor Back
      if (blueb <= 10 && redb >= 11 && greenb  >= 11 && blueb < redb && blueb < greenb)

      {
        sensor_back =  1;
      }
      else
      {
        sensor_back = 0;
      }
    }
  }
  { //Drive
if (sensor_left ==1 or sensor_right==1)
{
    Found:
if (sensor_left == 1 && sensor_right == 1 or sensor_left == 1 && sensor_right  == 1 && sensor_back == 0)
    {//Straightforward
      Straightforward:
      motor1.setSpeed(150);
      motor2.setSpeed(150);
      motor3.setSpeed(150);
      motor4.setSpeed(150);
      motor1.run(FORWARD);
      motor2.run(FORWARD);
      motor3.run(FORWARD);
      motor4.run(FORWARD);
      delay(7);
      motor1.run(RELEASE);
      motor2.run(RELEASE);
      motor3.run(RELEASE);
      motor4.run(RELEASE);
      Serial.print(" Straightforward ");
    }
    else if (sensor_left == 0 && sensor_right == 1)
    {//Right Curve
      motor1.setSpeed(225);
      motor2.setSpeed(225);
      motor3.setSpeed(200);
      motor4.setSpeed(200);
      motor1.run(BACKWARD);
      motor2.run(BACKWARD);
      motor3.run(FORWARD);
      motor4.run(FORWARD);
      delay(7);
      motor1.run(RELEASE);
      motor2.run(RELEASE);
      motor3.run(RELEASE);
      motor4.run(RELEASE);
      Serial.print(" Right Curve ");
    }
    else if (sensor_left == 1  && sensor_right == 0)
    {//Left Curve
      motor1.setSpeed(200);
      motor2.setSpeed(200);
      motor3.setSpeed(225);
      motor4.setSpeed(225);
      motor1.run(FORWARD);
      motor2.run(FORWARD);
      motor3.run(BACKWARD);
      motor4.run(BACKWARD);
      delay(7);
      motor1.run(RELEASE);
      motor2.run(RELEASE);
      motor3.run(RELEASE);
      motor4.run(RELEASE);
      Serial.print("  Left Curve "); 
    }
  } 
  else if (sensor_left == 0 && sensor_right  == 0 && sensor_back == 1)
  {
//Backward
      motor1.setSpeed(160);
      motor2.setSpeed(160);
      motor3.setSpeed(150);
      motor4.setSpeed(150);
      motor1.run(BACKWARD);
      motor2.run(BACKWARD);
      motor3.run(BACKWARD);
      motor4.run(BACKWARD);
      delay (7);
      Serial.print(" Backward  "); 
  }
  else
  {
    
  }
  }
}
void color() 

{

  { //Left Sensor
    digitalWrite(s2L, LOW);
    digitalWrite(s3L, LOW);
    redL = pulseIn(outL, digitalRead(outL) == HIGH ? LOW : HIGH);
    digitalWrite(s3L,  HIGH);
    blueL = pulseIn(outL, digitalRead(outL) == HIGH ? LOW : HIGH);
    digitalWrite(s2L, HIGH);
    greenL = pulseIn(outL, digitalRead(outL) ==  HIGH ? LOW : HIGH);
  }

  { //Right Sensor
    digitalWrite(s2R, LOW);
    digitalWrite(s3R, LOW);
    redR = pulseIn(outR, digitalRead(outR) == HIGH  ? LOW : HIGH);
    digitalWrite(s3R, HIGH);
    blueR = pulseIn(outR, digitalRead(outR)  == HIGH ? LOW : HIGH);
    digitalWrite(s2R, HIGH);
    greenR = pulseIn(outR,  digitalRead(outR) == HIGH ? LOW : HIGH);
  }
    { //Back Sensor
    digitalWrite(s2b,  LOW);
    digitalWrite(s3b, LOW);
    redb = pulseIn(outb, digitalRead(outb)  == HIGH ? LOW : HIGH);
    digitalWrite(s3b, HIGH);
    blueb = pulseIn(outb,  digitalRead(outb) == HIGH ? LOW : HIGH);
    digitalWrite(s2b, HIGH);
    greenb  = pulseIn(outb, digitalRead(outb) == HIGH ? LOW : HIGH);
  }
}

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Schema

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Schema

Schema in a Fritzing format

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Maxconnor

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