Micro Mouse motor simulation programme for Arduino Nano. Written by Dr Timothy Davies for EG-151 Microcontrollers, (c) Swansea University 2020.

ldr_test.c

// the setup function runs once when you press reset or power the board

void setup()
{
  Serial.begin(9600);
  Serial.println();
  Serial.println("Line sensor test programme");
}

// the loop function runs over and over again forever

void loop()
{
  Serial.println();
  Serial.print(" Left sensor = "); Serial.print(analogRead(A7));
  Serial.print(" Right sensor = "); Serial.print(analogRead(A6));
  delay(500);
}

motorsim.c

// the setup function runs once when you press reset or power the board
void setup() {
#define TBL 11 //Actually Port B3
#define TBR 8 //Actually Port B0
  pinMode(TBL, INPUT_PULLUP);
  pinMode(TBR, INPUT_PULLUP);
  DDRD = 0b11110000; //Use top four bits for motor control
  PORTD = 0b00000000; //Machine is stopped
}

#define drive PORTD
#define STOP 0b00000000
#define FWD 0b01010000
#define REV 0b10100000
#define CW 0b01100000
#define ACW 0b10010000
#define touched 0

// the loop function runs over and over again forever
void loop() {
  drive = FWD;
  if (digitalRead(TBR) == touched) {
    revleft();
  }
  if (digitalRead(TBL) == touched) {
    revright();
  }
}

void Stop() {
  drive = STOP;
}

void Forward() {
  drive = FWD;
}

void Reverse() {
  drive = REV;
}

void Clockwise() {
  drive = CW;
}
void Anticlockwise() {
  drive = ACW;
}

void revleft() {
  Stop();
  Reverse();
  delay(2000);
  Stop();
  Anticlockwise();
  delay(1000);
  Stop();
}

void revright() {
  Stop();
  Reverse();
  delay (2000);
  Stop();
  Clockwise();
  delay(1000);
  Stop();
}