Color Controlled Car using TCS3200 Color Sensor

The color sensor is programmed to detect three colors (RGB). Based on the color, the car moves in different paths.

Jan 23, 2021

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Devices & Components

Arduino Nano

5V Cell

Jumper wires (generic)

TCS3200 Color Sensor

DC Motor, 12 V

9V battery (generic)

Breadboard mini

L298N Motor Driver

Software & Tools

Arduino IDE

Project description

Code

arduino

1/*
2   This program moves a car in three
3   different patterns based   on the
4   colour sensed by the colour sensor.
5   The colour sensor is mounted   on the
6   car.
7   This program is created by Shreyas for
8   Electronics   Champ YouTube Channel.
9   Please subscribe to this channel
10   Thank You
11*/
12
13//Include   the library
14#include <tcs3200.h>
15
16/*
17   Initialize the variables
18    for colour sensor
19*/
20int red;
21int green;
22int blue;
23String sensedColour   = "none";
24int delayTime = 0;
25
26/*
27   Initialize the variables
28   for   motor driver
29*/
30int leftMotorForward = 9;
31int leftMotorBackward = 10;
32int   rightMotorForward = 11;
33int rightMotorBackward = 12;
34
35tcs3200 sensor(4,   5, 6, 7, 8); //S0, S1, S2, S3, output pin
36
37void setup() {
38
39  /*
40     Set pin 9, 10, 11
41    and 12 as output
42  */
43  for (int i = 9; i < 13;   i = i + 1) {
44
45    pinMode(i, OUTPUT);
46
47  }
48
49  red = sensor.colorRead('r',   20);   //Scaling the sensor to 20%
50
51  Serial.begin(9600);
52
53}
54
55void   loop() {
56
57  readColour();
58  checkColour();
59
60  if (sensedColour ==   "red") {  //If the colour is red…..
61
62    delayTime = 2000;
63    delay(delayTime);
64     front();     //A function to move the car front
65    sensedColour = "none";   //Sets the sensed colour as ‘None’
66
67  }
68
69  else if (sensedColour ==   "green") {  //If the colour is green…..
70
71    delayTime = 2000;
72    delay(delayTime);
73     circle();     //Function to move the car in circular path
74    sensedColour   = "none";  //Sets the sensed colour as ‘None’
75
76  }
77
78  else if (sensedColour   == "blue") {   //If the colour is blue…..
79    //move the car in a triangular   path
80    delayTime = 2000;
81    delay(delayTime);
82    delayTime = 1000;
83     front();
84    delayTime = 500;
85    delay(50);
86    right();
87    delayTime   = 1000;
88    delay(50);
89    front();
90    delayTime = 500;
91    delay(50);
92     right();
93    delayTime = 1000;
94    front();
95    delayTime = 500;
96     right();
97    sensedColour = "none";  //Sets the sensed colour as ‘None’
98
99   }
100
101  if (red < 8 and green < 8 and blue < 8) {  //If the colour sensor is   not sensing any colour…..
102
103    digitalWrite(leftMotorForward, LOW);
104    digitalWrite(leftMotorBackward,   LOW);
105    digitalWrite(rightMotorForward, LOW);
106    digitalWrite(rightMotorBackward,   LOW);  //Stops the car
107    sensedColour = "none";
108
109  }
110
111}
112
113//function   to move the car forward
114void front() {
115
116  digitalWrite(leftMotorForward,   HIGH);
117  digitalWrite(rightMotorForward, HIGH);
118  delay(delayTime);
119  digitalWrite(leftMotorForward,   LOW);
120  digitalWrite(rightMotorForward, LOW);
121
122}
123
124
125//function   to turn the car left
126void left() {
127
128  digitalWrite(leftMotorForward, LOW);
129   digitalWrite(rightMotorForward, HIGH);
130  delay(delayTime);
131  digitalWrite(leftMotorForward,   LOW);
132  digitalWrite(rightMotorForward, LOW);
133
134}
135
136//function to turn   the car right
137void right() {
138
139  digitalWrite(leftMotorForward, HIGH);
140   digitalWrite(rightMotorForward, LOW);
141  delay(delayTime);
142  digitalWrite(leftMotorForward,   LOW);
143  digitalWrite(rightMotorForward, LOW);
144
145}
146
147//car moves in   a circular path
148void circle() {
149
150  left();
151  left();
152
153}
154
155//function   to read the colour
156void readColour() {
157
158  red = sensor.colorRead('r');    //reads colour value for red
159  green = sensor.colorRead('g');   //reads colour   value for green
160  blue = sensor.colorRead('b');    //reads colour value for blue
161   
162  //Prints the values on the serial monitor
163  Serial.print("R = ");
164   Serial.println(red);
165  Serial.print("G = ");
166  Serial.println(green);
167   Serial.print("B = ");
168  Serial.println(blue);
169  Serial.println(" ");
170   delay(10);     
171
172}
173
174//sets the colour that is sensed
175void checkColour()   {
176
177  if (red > green and red > blue and red > 8) {   //If the colour is red......
178
179     sensedColour = "red";     //Sets the value of this variable to “red”
180
181   }
182
183  else if (green > red and green > blue and green > 8) {   //If the colour   is green......
184
185    sensedColour = "green";     //Sets the value of this   variable to “green”
186
187  }
188
189  else if (blue > green and blue > red and   blue > 8) {   //If the colour is blue......
190
191    sensedColour = "blue";      //Sets the value of this variable to “blue”
192
193  }
194
195}

/*
   This program moves a car in three
   different patterns based   on the
   colour sensed by the colour sensor.
   The colour sensor is mounted   on the
   car.
   This program is created by Shreyas for
   Electronics   Champ YouTube Channel.
   Please subscribe to this channel
   Thank You
*/

//Include   the library
#include <tcs3200.h>

/*
   Initialize the variables
    for colour sensor
*/
int red;
int green;
int blue;
String sensedColour   = "none";
int delayTime = 0;

/*
   Initialize the variables
   for   motor driver
*/
int leftMotorForward = 9;
int leftMotorBackward = 10;
int   rightMotorForward = 11;
int rightMotorBackward = 12;

tcs3200 sensor(4,   5, 6, 7, 8); //S0, S1, S2, S3, output pin

void setup() {

  /*
     Set pin 9, 10, 11
    and 12 as output
  */
  for (int i = 9; i < 13;   i = i + 1) {

    pinMode(i, OUTPUT);

  }

  red = sensor.colorRead('r',   20);   //Scaling the sensor to 20%

  Serial.begin(9600);

}

void   loop() {

  readColour();
  checkColour();

  if (sensedColour ==   "red") {  //If the colour is red…..

    delayTime = 2000;
    delay(delayTime);
     front();     //A function to move the car front
    sensedColour = "none";   //Sets the sensed colour as ‘None’

  }

  else if (sensedColour ==   "green") {  //If the colour is green…..

    delayTime = 2000;
    delay(delayTime);
     circle();     //Function to move the car in circular path
    sensedColour   = "none";  //Sets the sensed colour as ‘None’

  }

  else if (sensedColour   == "blue") {   //If the colour is blue…..
    //move the car in a triangular   path
    delayTime = 2000;
    delay(delayTime);
    delayTime = 1000;
     front();
    delayTime = 500;
    delay(50);
    right();
    delayTime   = 1000;
    delay(50);
    front();
    delayTime = 500;
    delay(50);
     right();
    delayTime = 1000;
    front();
    delayTime = 500;
     right();
    sensedColour = "none";  //Sets the sensed colour as ‘None’

   }

  if (red < 8 and green < 8 and blue < 8) {  //If the colour sensor is   not sensing any colour…..

    digitalWrite(leftMotorForward, LOW);
    digitalWrite(leftMotorBackward,   LOW);
    digitalWrite(rightMotorForward, LOW);
    digitalWrite(rightMotorBackward,   LOW);  //Stops the car
    sensedColour = "none";

  }

}

//function   to move the car forward
void front() {

  digitalWrite(leftMotorForward,   HIGH);
  digitalWrite(rightMotorForward, HIGH);
  delay(delayTime);
  digitalWrite(leftMotorForward,   LOW);
  digitalWrite(rightMotorForward, LOW);

}


//function   to turn the car left
void left() {

  digitalWrite(leftMotorForward, LOW);
   digitalWrite(rightMotorForward, HIGH);
  delay(delayTime);
  digitalWrite(leftMotorForward,   LOW);
  digitalWrite(rightMotorForward, LOW);

}

//function to turn   the car right
void right() {

  digitalWrite(leftMotorForward, HIGH);
   digitalWrite(rightMotorForward, LOW);
  delay(delayTime);
  digitalWrite(leftMotorForward,   LOW);
  digitalWrite(rightMotorForward, LOW);

}

//car moves in   a circular path
void circle() {

  left();
  left();

}

//function   to read the colour
void readColour() {

  red = sensor.colorRead('r');    //reads colour value for red
  green = sensor.colorRead('g');   //reads colour   value for green
  blue = sensor.colorRead('b');    //reads colour value for blue
   
  //Prints the values on the serial monitor
  Serial.print("R = ");
   Serial.println(red);
  Serial.print("G = ");
  Serial.println(green);
   Serial.print("B = ");
  Serial.println(blue);
  Serial.println(" ");
   delay(10);     

}

//sets the colour that is sensed
void checkColour()   {

  if (red > green and red > blue and red > 8) {   //If the colour is red......

     sensedColour = "red";     //Sets the value of this variable to “red”

   }

  else if (green > red and green > blue and green > 8) {   //If the colour   is green......

    sensedColour = "green";     //Sets the value of this   variable to “green”

  }

  else if (blue > green and blue > red and   blue > 8) {   //If the colour is blue......

    sensedColour = "blue";      //Sets the value of this variable to “blue”

  }

}

Code

arduino

1/*
2   This program moves a car in three
3   different patterns based  on the
4   colour sensed by the colour sensor.
5   The colour sensor is mounted  on the
6   car.
7   This program is created by Shreyas for
8   Electronics  Champ YouTube Channel.
9   Please subscribe to this channel
10   Thank You
11*/
12
13//Include  the library
14#include <tcs3200.h>
15
16/*
17   Initialize the variables
18   for colour sensor
19*/
20int red;
21int green;
22int blue;
23String sensedColour  = "none";
24int delayTime = 0;
25
26/*
27   Initialize the variables
28   for  motor driver
29*/
30int leftMotorForward = 9;
31int leftMotorBackward = 10;
32int  rightMotorForward = 11;
33int rightMotorBackward = 12;
34
35tcs3200 sensor(4,  5, 6, 7, 8); //S0, S1, S2, S3, output pin
36
37void setup() {
38
39  /*
40    Set pin 9, 10, 11
41    and 12 as output
42  */
43  for (int i = 9; i < 13;  i = i + 1) {
44
45    pinMode(i, OUTPUT);
46
47  }
48
49  red = sensor.colorRead('r',  20);   //Scaling the sensor to 20%
50
51  Serial.begin(9600);
52
53}
54
55void  loop() {
56
57  readColour();
58  checkColour();
59
60  if (sensedColour ==  "red") {  //If the colour is red…..
61
62    delayTime = 2000;
63    delay(delayTime);
64    front();     //A function to move the car front
65    sensedColour = "none";  //Sets the sensed colour as ‘None’
66
67  }
68
69  else if (sensedColour ==  "green") {  //If the colour is green…..
70
71    delayTime = 2000;
72    delay(delayTime);
73    circle();     //Function to move the car in circular path
74    sensedColour  = "none";  //Sets the sensed colour as ‘None’
75
76  }
77
78  else if (sensedColour  == "blue") {   //If the colour is blue…..
79    //move the car in a triangular  path
80    delayTime = 2000;
81    delay(delayTime);
82    delayTime = 1000;
83    front();
84    delayTime = 500;
85    delay(50);
86    right();
87    delayTime  = 1000;
88    delay(50);
89    front();
90    delayTime = 500;
91    delay(50);
92    right();
93    delayTime = 1000;
94    front();
95    delayTime = 500;
96    right();
97    sensedColour = "none";  //Sets the sensed colour as ‘None’
98
99  }
100
101  if (red < 8 and green < 8 and blue < 8) {  //If the colour sensor is  not sensing any colour…..
102
103    digitalWrite(leftMotorForward, LOW);
104    digitalWrite(leftMotorBackward,  LOW);
105    digitalWrite(rightMotorForward, LOW);
106    digitalWrite(rightMotorBackward,  LOW);  //Stops the car
107    sensedColour = "none";
108
109  }
110
111}
112
113//function  to move the car forward
114void front() {
115
116  digitalWrite(leftMotorForward,  HIGH);
117  digitalWrite(rightMotorForward, HIGH);
118  delay(delayTime);
119  digitalWrite(leftMotorForward,  LOW);
120  digitalWrite(rightMotorForward, LOW);
121
122}
123
124
125//function  to turn the car left
126void left() {
127
128  digitalWrite(leftMotorForward, LOW);
129  digitalWrite(rightMotorForward, HIGH);
130  delay(delayTime);
131  digitalWrite(leftMotorForward,  LOW);
132  digitalWrite(rightMotorForward, LOW);
133
134}
135
136//function to turn  the car right
137void right() {
138
139  digitalWrite(leftMotorForward, HIGH);
140  digitalWrite(rightMotorForward, LOW);
141  delay(delayTime);
142  digitalWrite(leftMotorForward,  LOW);
143  digitalWrite(rightMotorForward, LOW);
144
145}
146
147//car moves in  a circular path
148void circle() {
149
150  left();
151  left();
152
153}
154
155//function  to read the colour
156void readColour() {
157
158  red = sensor.colorRead('r');   //reads colour value for red
159  green = sensor.colorRead('g');   //reads colour  value for green
160  blue = sensor.colorRead('b');    //reads colour value for blue
161  
162  //Prints the values on the serial monitor
163  Serial.print("R = ");
164  Serial.println(red);
165  Serial.print("G = ");
166  Serial.println(green);
167  Serial.print("B = ");
168  Serial.println(blue);
169  Serial.println(" ");
170  delay(10);     
171
172}
173
174//sets the colour that is sensed
175void checkColour()  {
176
177  if (red > green and red > blue and red > 8) {   //If the colour is red......
178
179    sensedColour = "red";     //Sets the value of this variable to “red”
180
181  }
182
183  else if (green > red and green > blue and green > 8) {   //If the colour  is green......
184
185    sensedColour = "green";     //Sets the value of this  variable to “green”
186
187  }
188
189  else if (blue > green and blue > red and  blue > 8) {   //If the colour is blue......
190
191    sensedColour = "blue";     //Sets the value of this variable to “blue”
192
193  }
194
195}

/*
   This program moves a car in three
   different patterns based  on the
   colour sensed by the colour sensor.
   The colour sensor is mounted  on the
   car.
   This program is created by Shreyas for
   Electronics  Champ YouTube Channel.
   Please subscribe to this channel
   Thank You
*/

//Include  the library
#include <tcs3200.h>

/*
   Initialize the variables
   for colour sensor
*/
int red;
int green;
int blue;
String sensedColour  = "none";
int delayTime = 0;

/*
   Initialize the variables
   for  motor driver
*/
int leftMotorForward = 9;
int leftMotorBackward = 10;
int  rightMotorForward = 11;
int rightMotorBackward = 12;

tcs3200 sensor(4,  5, 6, 7, 8); //S0, S1, S2, S3, output pin

void setup() {

  /*
    Set pin 9, 10, 11
    and 12 as output
  */
  for (int i = 9; i < 13;  i = i + 1) {

    pinMode(i, OUTPUT);

  }

  red = sensor.colorRead('r',  20);   //Scaling the sensor to 20%

  Serial.begin(9600);

}

void  loop() {

  readColour();
  checkColour();

  if (sensedColour ==  "red") {  //If the colour is red…..

    delayTime = 2000;
    delay(delayTime);
    front();     //A function to move the car front
    sensedColour = "none";  //Sets the sensed colour as ‘None’

  }

  else if (sensedColour ==  "green") {  //If the colour is green…..

    delayTime = 2000;
    delay(delayTime);
    circle();     //Function to move the car in circular path
    sensedColour  = "none";  //Sets the sensed colour as ‘None’

  }

  else if (sensedColour  == "blue") {   //If the colour is blue…..
    //move the car in a triangular  path
    delayTime = 2000;
    delay(delayTime);
    delayTime = 1000;
    front();
    delayTime = 500;
    delay(50);
    right();
    delayTime  = 1000;
    delay(50);
    front();
    delayTime = 500;
    delay(50);
    right();
    delayTime = 1000;
    front();
    delayTime = 500;
    right();
    sensedColour = "none";  //Sets the sensed colour as ‘None’

  }

  if (red < 8 and green < 8 and blue < 8) {  //If the colour sensor is  not sensing any colour…..

    digitalWrite(leftMotorForward, LOW);
    digitalWrite(leftMotorBackward,  LOW);
    digitalWrite(rightMotorForward, LOW);
    digitalWrite(rightMotorBackward,  LOW);  //Stops the car
    sensedColour = "none";

  }

}

//function  to move the car forward
void front() {

  digitalWrite(leftMotorForward,  HIGH);
  digitalWrite(rightMotorForward, HIGH);
  delay(delayTime);
  digitalWrite(leftMotorForward,  LOW);
  digitalWrite(rightMotorForward, LOW);

}


//function  to turn the car left
void left() {

  digitalWrite(leftMotorForward, LOW);
  digitalWrite(rightMotorForward, HIGH);
  delay(delayTime);
  digitalWrite(leftMotorForward,  LOW);
  digitalWrite(rightMotorForward, LOW);

}

//function to turn  the car right
void right() {

  digitalWrite(leftMotorForward, HIGH);
  digitalWrite(rightMotorForward, LOW);
  delay(delayTime);
  digitalWrite(leftMotorForward,  LOW);
  digitalWrite(rightMotorForward, LOW);

}

//car moves in  a circular path
void circle() {

  left();
  left();

}

//function  to read the colour
void readColour() {

  red = sensor.colorRead('r');   //reads colour value for red
  green = sensor.colorRead('g');   //reads colour  value for green
  blue = sensor.colorRead('b');    //reads colour value for blue
  
  //Prints the values on the serial monitor
  Serial.print("R = ");
  Serial.println(red);
  Serial.print("G = ");
  Serial.println(green);
  Serial.print("B = ");
  Serial.println(blue);
  Serial.println(" ");
  delay(10);     

}

//sets the colour that is sensed
void checkColour()  {

  if (red > green and red > blue and red > 8) {   //If the colour is red......

    sensedColour = "red";     //Sets the value of this variable to “red”

  }

  else if (green > red and green > blue and green > 8) {   //If the colour  is green......

    sensedColour = "green";     //Sets the value of this  variable to “green”

  }

  else if (blue > green and blue > red and  blue > 8) {   //If the colour is blue......

    sensedColour = "blue";     //Sets the value of this variable to “blue”

  }

}

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