Line Following Robot

1int mr1=8;  //motor right 1
2int mr2=9;  //motor right 2
3int ml1=10;   //motor left 1
4int ml2=11; //motor left 2
5int sr=6;   //sensor right
6int   sl=7;   //sensor left
7int svr=0;
8int svl=0;
9int led=13;
10int enr=3; 
11int   enl=5;
12
13int vspeed=100;    
14int tspeed=255;
15int tdelay=20;
16
17void   setup()
18{
19 pinMode(mr1,OUTPUT);
20 pinMode(mr2,OUTPUT);
21 pinMode(ml1,OUTPUT);
22   pinMode(ml2,OUTPUT);
23 pinMode(led,OUTPUT);
24 pinMode(sr,INPUT);
25 pinMode(sl,INPUT);
26   
27 delay(5000);
28}
29
30void loop()
31{
32 svr=digitalRead(sr);
33 svl=digitalRead(sl);
34   
35  if(svl==LOW && svr==LOW)
36  {
37  forward(); //maju
38  }
39
40  if(svl==HIGH   && svr==LOW)
41  {
42  left(); //belok kiri
43  }
44 
45  if(svl==LOW && svr==HIGH)
46   { 
47  right(); //belok kanan
48  }
49  
50  if(svl==HIGH && svr==HIGH)
51   {
52  stop(); //berhenti
53  }
54}
55
56void forward()
57 {
58  digitalWrite(mr1,HIGH);
59   digitalWrite(mr2,LOW);
60  digitalWrite(ml1,HIGH);
61  digitalWrite(ml2,LOW);
62   analogWrite (enr,vspeed);
63  analogWrite (enl,vspeed);
64 } 
65
66void backward()
67   {
68  digitalWrite(mr1,LOW);
69  digitalWrite(mr2,HIGH);
70  digitalWrite(ml1,LOW);
71   digitalWrite(ml2,HIGH);
72  analogWrite (enr,vspeed);
73  analogWrite (enl,vspeed);
74   }
75
76void right()
77 {
78  digitalWrite(mr1,LOW);
79  digitalWrite(mr2,HIGH);
80   digitalWrite(ml1,HIGH);
81  digitalWrite(ml2,LOW);
82  analogWrite (enr,tspeed);
83   analogWrite (enl,tspeed);
84  delay(tdelay);
85 } 
86
87void left()
88 {
89   digitalWrite(mr1,HIGH);
90  digitalWrite(mr2,LOW);
91  digitalWrite(ml1,LOW);
92   digitalWrite(ml2,HIGH);
93  analogWrite (enr,tspeed);
94  analogWrite (enl,tspeed);
95   delay(tdelay);
96}  
97
98void stop()
99 {
100  analogWrite (enr,0);
101  analogWrite   (enl,0);
102 }

1int mr1=8;  //motor right 1
2int mr2=9;  //motor right 2
3int ml1=10;  //motor left 1
4int ml2=11; //motor left 2
5int sr=6;   //sensor right
6int  sl=7;   //sensor left
7int svr=0;
8int svl=0;
9int led=13;
10int enr=3; 
11int  enl=5;
12
13int vspeed=100;    
14int tspeed=255;
15int tdelay=20;
16
17void  setup()
18{
19 pinMode(mr1,OUTPUT);
20 pinMode(mr2,OUTPUT);
21 pinMode(ml1,OUTPUT);
22  pinMode(ml2,OUTPUT);
23 pinMode(led,OUTPUT);
24 pinMode(sr,INPUT);
25 pinMode(sl,INPUT);
26  
27 delay(5000);
28}
29
30void loop()
31{
32 svr=digitalRead(sr);
33 svl=digitalRead(sl);
34  
35  if(svl==LOW && svr==LOW)
36  {
37  forward(); //maju
38  }
39
40  if(svl==HIGH  && svr==LOW)
41  {
42  left(); //belok kiri
43  }
44 
45  if(svl==LOW && svr==HIGH)
46  { 
47  right(); //belok kanan
48  }
49  
50  if(svl==HIGH && svr==HIGH)
51  {
52  stop(); //berhenti
53  }
54}
55
56void forward()
57 {
58  digitalWrite(mr1,HIGH);
59  digitalWrite(mr2,LOW);
60  digitalWrite(ml1,HIGH);
61  digitalWrite(ml2,LOW);
62  analogWrite (enr,vspeed);
63  analogWrite (enl,vspeed);
64 } 
65
66void backward()
67  {
68  digitalWrite(mr1,LOW);
69  digitalWrite(mr2,HIGH);
70  digitalWrite(ml1,LOW);
71  digitalWrite(ml2,HIGH);
72  analogWrite (enr,vspeed);
73  analogWrite (enl,vspeed);
74  }
75
76void right()
77 {
78  digitalWrite(mr1,LOW);
79  digitalWrite(mr2,HIGH);
80  digitalWrite(ml1,HIGH);
81  digitalWrite(ml2,LOW);
82  analogWrite (enr,tspeed);
83  analogWrite (enl,tspeed);
84  delay(tdelay);
85 } 
86
87void left()
88 {
89  digitalWrite(mr1,HIGH);
90  digitalWrite(mr2,LOW);
91  digitalWrite(ml1,LOW);
92  digitalWrite(ml2,HIGH);
93  analogWrite (enr,tspeed);
94  analogWrite (enl,tspeed);
95  delay(tdelay);
96}  
97
98void stop()
99 {
100  analogWrite (enr,0);
101  analogWrite  (enl,0);
102 }