Building A Line Following Robot Using Arduino

1//Line Follower Robot
2 //first , you need to insstall the motor driver for L293D motor driver
3// Go to Sketch-> Include Librabry-> Manage Library-> Search for Adafruit Motor Shield V1
4#include <AFMotor.h>
5
6#define left A0
7#define right A1
8
9AF_DCMotor motor1(1, MOTOR12_1KHZ); 
10AF_DCMotor motor2(2, MOTOR12_1KHZ);
11AF_DCMotor motor3(3, MOTOR34_1KHZ);
12AF_DCMotor motor4(4, MOTOR34_1KHZ);
13
14void setup() {
15  
16  pinMode(left,INPUT);
17  pinMode(right,INPUT);
18  Serial.begin(9600);
19  
20}
21
22void loop(){
23
24  Serial.println(digitalRead(left));
25  
26  Serial.println(digitalRead(right));
27
28  
29  if(digitalRead(left)==0 && digitalRead(right)==0){
30    // Move forward 
31    motor1.run(FORWARD);
32    motor1.setSpeed(150); // Run Speed from 0 to 255
33    motor2.run(FORWARD); 
34    motor2.setSpeed(150);// Run Speed from 0 to 255
35    motor3.run(FORWARD);
36    motor3.setSpeed(150);// Run Speed from 0 to 255
37    motor4.run(FORWARD);
38    motor4.setSpeed(150);// Run Speed from 0 to 255
39  }
40  //Compare to sensors
41  else if(digitalRead(left)==0 && !analogRead(right)==0){
42    //turn right 
43    motor1.run(FORWARD);
44    motor1.setSpeed(150);
45    motor2.run(FORWARD);
46    motor2.setSpeed(150);
47    motor3.run(BACKWARD);
48    motor3.setSpeed(150);
49    motor4.run(BACKWARD);
50    motor4.setSpeed(150);
51    
52  }
53  //Compare to sensors
54  else if(!digitalRead(left)==0 && digitalRead(right)==0){
55    //Turn left
56    motor1.run(BACKWARD);
57    motor1.setSpeed(150);
58    motor2.run(BACKWARD);
59    motor2.setSpeed(150);
60    motor3.run(FORWARD);
61    motor3.setSpeed(150);
62    motor4.run(FORWARD);
63    motor4.setSpeed(150);
64   
65  }
66  //No signals
67  else if(!digitalRead(left)==0 && !digitalRead(right)==0){
68    //Stop 
69    motor1.run(RELEASE);
70    motor1.setSpeed(0);
71    motor2.run(RELEASE);
72    motor2.setSpeed(0);
73    motor3.run(RELEASE);
74    motor3.setSpeed(0);
75    motor4.run(RELEASE);
76    motor4.setSpeed(0);
77   
78  }
79  
80}