LineFollowerArduino.ino

//defining pins and variables
#define lefts A4
#define rights A5

// connect motor controller pins to Arduino digital pins
// motor one
int enA = 10;
int in1 = 9;
int in2 = 8;
// motor two
int enB = 5;
int in3 = 7;
int in4 = 6;

void setup()
{
  // set all the motor control pins to outputs
  //  pinMode(enA, OUTPUT);
  //  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(lefts, INPUT);
  pinMode(rights, INPUT);
  //begin serial communication
  Serial.begin(9600);
}

void goForward()
{
  // this function will run the motors in both directions at a fixed speed
  // set speed to 200 out of possible range 0~255
  analogWrite(enA, 100);
  // turn on motor A
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  // set speed to 200 out of possible range 0~255
  analogWrite(enB, 100);
  // turn on motor B
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
}

void goLeft()
{
  // set speed to 200 out of possible range 0~255
  analogWrite(enA, 200);
  // turn on motor A
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);

  // set speed to 200 out of possible range 0~255
  analogWrite(enB, 200);
  // turn on motor B
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
}

void goRight()
{
  // set speed to 200 out of possible range 0~255
  analogWrite(enA, 200);
  // turn on motor A
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);

  // set speed to 200 out of possible range 0~255
  analogWrite(enB, 200);
  // turn on motor B
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
}
void stop()
{
  // this function will run the motors in both directions at a fixed speed
  // set speed to 200 out of possible range 0~255
  analogWrite(enB, 0);
  // turn on motor B
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  // set speed to 200 out of possible range 0~255
  analogWrite(enB, 0);
  // turn on motor B
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
}


void loop()
{
  //printing values of the sensors to the serial monitor
  int leftSensor = analogRead(lefts);
  String Str1 = "Left Sensor: ";
  String StrLeft = Str1 + leftSensor;
  Serial.println(StrLeft);

  int rightSensor = analogRead(rights);
  String Str2 = "Right Sensor: ";
  String StrRight = Str2 + rightSensor;
  Serial.println(StrRight);

  //  delay(1000);

  //line detected by both
  if (analogRead(lefts) <= 400 && analogRead(rights) <= 400) {
    stop();
  }
  //line detected by left sensor
  else if (analogRead(lefts) <= 400 && !analogRead(rights) <= 400) {
    //turn left
    goLeft();
    //    leftBackword();
    //    rightForward();
    /*
      motor1.run(RELEASE);
      motor2.run(FORWARD);
    */
  }
  //line detected by right sensor
  else if (!analogRead(lefts) <= 400 && analogRead(rights) <= 400) {
    //turn right
    goRight();
    //    rightBackword();
    //    leftForward();
    /*
      motor1.run(FORWARD);
      motor2.run(RELEASE);
    */
  }
  //line detected by none
  else if (!analogRead(lefts) <= 400 && !analogRead(rights) <= 400) {
    //stop
    goForward();
    //    leftForward();
    //    rightForward();
  }
}