Line following robot

1  /*
2Code Name: Arduino Line Follower Robot Car
3Code URI: https://circuitbest.com/category/arduino-projects/
4Author:  Make DIY
5Author URI: https://circuitbest.com/author/admin/
6Description: This  program is used to make Arduino Line Follower Robot Car.
7Note: You can use any  value between 0 to 255 for M1_Speed, M2_Speed, LeftRotationSpeed, RightRotationSpeed.
8Here  0 means Low Speed and 255 is for High Speed.
9Version: 1.0
10License: Remixing  or Changing this Thing is allowed. Commercial use is not allowed.
11*/
12
13#define  in1 9
14#define in2 8
15#define in3 7
16#define in4 6
17#define enA 10
18#define  enB 5
19 int M1_Speed = 80; // speed of motor 1
20 int M2_Speed = 80; // speed  of motor 2
21 int LeftRotationSpeed = 250;  // Left Rotation Speed
22 int RightRotationSpeed  = 250; // Right Rotation Speed
23
24
25 void setup() {
26
27  pinMode(in1,OUTPUT);
28  pinMode(in2,OUTPUT);
29  pinMode(in3,OUTPUT);
30  pinMode(in4,OUTPUT);
31
32    pinMode(enA,OUTPUT);
33    pinMode(enB,OUTPUT);
34
35      pinMode(A0, INPUT);  // initialize Left sensor as an input
36      pinMode(A1, INPUT); // initialize  Right sensor as an input
37
38}
39
40void loop() {
41
42  int LEFT_SENSOR  = digitalRead(A0);
43  int RIGHT_SENSOR = digitalRead(A1);
44
45if(RIGHT_SENSOR==0  && LEFT_SENSOR==0) {
46    forward(); //FORWARD
47}
48
49  else if(RIGHT_SENSOR==0  && LEFT_SENSOR==1) {
50    right(); //Move Right
51 }
52
53  else if(RIGHT_SENSOR==1  && LEFT_SENSOR==0) {
54    left(); //Move Left
55}
56
57  else if(RIGHT_SENSOR==1  && LEFT_SENSOR==1) {
58    Stop();  //STOP
59 }
60}
61
62
63
64void forward()
65{
66            digitalWrite(in1, HIGH);
67            digitalWrite(in2, LOW);
68            digitalWrite(in3, HIGH);
69            digitalWrite(in4, LOW);
70
71                analogWrite(enA, M1_Speed);
72                analogWrite(enB,  M2_Speed);
73}
74
75void backward()
76{
77            digitalWrite(in1, LOW);
78            digitalWrite(in2, HIGH);
79            digitalWrite(in3, LOW);
80            digitalWrite(in4, HIGH);
81
82                analogWrite(enA, M1_Speed);
83                analogWrite(enB, M2_Speed);
84}
85
86void right()
87{
88            digitalWrite(in1,  LOW);
89            digitalWrite(in2, HIGH);
90            digitalWrite(in3, HIGH);
91            digitalWrite(in4, LOW);
92
93                analogWrite(enA, LeftRotationSpeed);
94                analogWrite(enB, RightRotationSpeed);
95}
96
97void left()
98{
99            digitalWrite(in1, HIGH);
100            digitalWrite(in2, LOW);
101            digitalWrite(in3, LOW);
102            digitalWrite(in4, HIGH);
103
104                analogWrite(enA, LeftRotationSpeed);
105                analogWrite(enB,  RightRotationSpeed);
106}
107
108void Stop()
109{
110            digitalWrite(in1,  LOW);
111            digitalWrite(in2, LOW);
112            digitalWrite(in3, LOW);
113            digitalWrite(in4, LOW);
114}
115