Color Controlled Car using TCS3200 Color Sensor

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}

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}