Arduino sketch (line follower) and Edge detection
// This is the basic code which runs a loop that makes the
//Robot follow a line and avoid falling off an edge using 3 IR sensors.
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
// Select which 'port' M1, M2, M3 or M4. In this case, M4
Adafruit_DCMotor *leftMotor = AFMS.getMotor(2);
//You can also make another motor on port M1
Adafruit_DCMotor *rightMotor = AFMS.getMotor(3);
int analogPin3 = 3; // Infrared Sensor right
int analogPin2 = 2; //IR sensor middle
int analogPin1 = 1; //IR sensor left
int val1 = 0; // variable to store the value read
int val2 = 0;
int val3 = 0;
//------------------------------------------------------------------------------------------------
void setup()
{
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Motors are working");
delay(2000);
AFMS.begin(); // create with the default frequency 1.6KHz
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
}
// The following Loop is to make the Robot go straight when the Infrared value is below 100
void loop()
{
val1 = analogRead(analogPin1); // read the input pins
val2 = analogRead(analogPin2);
val3 = analogRead(analogPin3);
Serial.print("Left Sensor :");
Serial.print(val1); // debug value
Serial.print("\t");
Serial.print("Center Sensor :");
Serial.print(val2);
Serial.print("\t");
Serial.print("right Sensor ");
Serial.println(val3);
if (val1 >100 && val2 >100 && val3 <100) //condition: 1|1|0
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(BACKWARD);
rightMotor->run(FORWARD);
}
else if (val1 <100 && val2 >100 && val3 >100)//condition: 0|1|1
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
}
if (val1 >90 && val2 <100 && val3 <90) //condition: 1|0|0
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(BACKWARD);
rightMotor->run(FORWARD);
}
else if (val1 <100 && val2 <100 && val3 >100)//condition: 0|0|1
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
}
else if (val1 <100 && val2 >100 && val3 <100)//condition: 0|1|0
{
leftMotor->setSpeed(150);
rightMotor->setSpeed(150);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
else if (val1 <100 && val2 <100 && val3 <100)//condition 0|0|0
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
//If the robot approaches an overhang reverse for 1 sec and turn right
else if (val1 >950 && val2 >950 && val3 >950)
{
leftMotor->run(BACKWARD);
rightMotor->run(BACKWARD);
delay(1500);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
delay(1000);
leftMotor->run(RELEASE);
rightMotor->run(RELEASE);
}
}
//Robot follow a line and avoid falling off an edge using 3 IR sensors.
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
// Select which 'port' M1, M2, M3 or M4. In this case, M4
Adafruit_DCMotor *leftMotor = AFMS.getMotor(2);
//You can also make another motor on port M1
Adafruit_DCMotor *rightMotor = AFMS.getMotor(3);
int analogPin3 = 3; // Infrared Sensor right
int analogPin2 = 2; //IR sensor middle
int analogPin1 = 1; //IR sensor left
int val1 = 0; // variable to store the value read
int val2 = 0;
int val3 = 0;
//------------------------------------------------------------------------------------------------
void setup()
{
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Motors are working");
delay(2000);
AFMS.begin(); // create with the default frequency 1.6KHz
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
}
// The following Loop is to make the Robot go straight when the Infrared value is below 100
void loop()
{
val1 = analogRead(analogPin1); // read the input pins
val2 = analogRead(analogPin2);
val3 = analogRead(analogPin3);
Serial.print("Left Sensor :");
Serial.print(val1); // debug value
Serial.print("\t");
Serial.print("Center Sensor :");
Serial.print(val2);
Serial.print("\t");
Serial.print("right Sensor ");
Serial.println(val3);
if (val1 >100 && val2 >100 && val3 <100) //condition: 1|1|0
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(BACKWARD);
rightMotor->run(FORWARD);
}
else if (val1 <100 && val2 >100 && val3 >100)//condition: 0|1|1
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
}
if (val1 >90 && val2 <100 && val3 <90) //condition: 1|0|0
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(BACKWARD);
rightMotor->run(FORWARD);
}
else if (val1 <100 && val2 <100 && val3 >100)//condition: 0|0|1
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
}
else if (val1 <100 && val2 >100 && val3 <100)//condition: 0|1|0
{
leftMotor->setSpeed(150);
rightMotor->setSpeed(150);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
else if (val1 <100 && val2 <100 && val3 <100)//condition 0|0|0
{
leftMotor->setSpeed(110);
rightMotor->setSpeed(110);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
//If the robot approaches an overhang reverse for 1 sec and turn right
else if (val1 >950 && val2 >950 && val3 >950)
{
leftMotor->run(BACKWARD);
rightMotor->run(BACKWARD);
delay(1500);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
delay(1000);
leftMotor->run(RELEASE);
rightMotor->run(RELEASE);
}
}
Bumper
//This is a basic code that detects
//when the bot has hit a wall and reverses and changes direction.
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Select motor ports M1 and M2
Adafruit_DCMotor *leftMotor = AFMS.getMotor(2);
Adafruit_DCMotor *rightMotor = AFMS.getMotor(3);
// Assign bumbers to pins
int bumper1 = 10; //micro switch left
int bumper2 = 6;//micro switch right
void setup()
{
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Motors are working");
delay(2000);
AFMS.begin(); // create with the default frequency 1.6KHz
pinMode(bumper1, INPUT_PULLUP);
pinMode(bumper2, INPUT_PULLUP);
// Set the speed to start, from 0 (off) to 255 (max speed)
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
}
void loop()
{
//read the motor switch values into a variable
int sensorVal1 = digitalRead(bumper1);
int sensorVal2 = digitalRead(bumper2);
//Print the values to the serial monitor
Serial.print(sensorVal1);
Serial.println(sensorVal2);
delay(500);
if (sensorVal1 ==HIGH && sensorVal2 == HIGH)
{
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
Serial.print(sensorVal1);
Serial.println(sensorVal2);
}
else if (sensorVal1 == LOW || sensorVal2 == LOW)
{
leftMotor->run(BACKWARD);
rightMotor->run(BACKWARD);
delay(1000);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
delay(1000);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
}
//when the bot has hit a wall and reverses and changes direction.
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Select motor ports M1 and M2
Adafruit_DCMotor *leftMotor = AFMS.getMotor(2);
Adafruit_DCMotor *rightMotor = AFMS.getMotor(3);
// Assign bumbers to pins
int bumper1 = 10; //micro switch left
int bumper2 = 6;//micro switch right
void setup()
{
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Motors are working");
delay(2000);
AFMS.begin(); // create with the default frequency 1.6KHz
pinMode(bumper1, INPUT_PULLUP);
pinMode(bumper2, INPUT_PULLUP);
// Set the speed to start, from 0 (off) to 255 (max speed)
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
}
void loop()
{
//read the motor switch values into a variable
int sensorVal1 = digitalRead(bumper1);
int sensorVal2 = digitalRead(bumper2);
//Print the values to the serial monitor
Serial.print(sensorVal1);
Serial.println(sensorVal2);
delay(500);
if (sensorVal1 ==HIGH && sensorVal2 == HIGH)
{
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
Serial.print(sensorVal1);
Serial.println(sensorVal2);
}
else if (sensorVal1 == LOW || sensorVal2 == LOW)
{
leftMotor->run(BACKWARD);
rightMotor->run(BACKWARD);
delay(1000);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
delay(1000);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
}
// This is the basic code which solves a line maze with NO loops in it.
// the adafruit motorshield libraries are used.
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Select motor ports M4 and M1
Adafruit_DCMotor *leftMotor = AFMS.getMotor(2);
Adafruit_DCMotor *rightMotor = AFMS.getMotor(3);
//include infrared sensors
int analogPin3 = 3; // Infrared Sensor right
int analogPin2 = 2; //IR sensor middle
int analogPin1 = 1; //IR sensor left
int val1 = 0; // variable to store the value read
int val2 = 0;
int val3 = 0;
//------------------------------------------------------------------------------------------------
void setup()
{
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Motors are working");
delay(2000);
AFMS.begin(); // create with the default frequency 1.6KHz
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
}
// The following Loop is to make the Robot go staright when the Infrared value is below 100
void loop()
{
val1 = analogRead(analogPin1); // read the input pins
val2 = analogRead(analogPin2);
val3 = analogRead(analogPin3);
Serial.print("Left Sensor :");
Serial.print(val1); // debug value
Serial.print("\t");
Serial.print("Center Sensor :");
Serial.print(val2);
Serial.print("\t");
Serial.print("right Sensor ");
Serial.println(val3);
if (val1 <100 && val2 >100 && val3 <100)// condition: 0|1|0 go STRAIGHT
{
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
else if (val1 >100 && val2 >100 && val3 <100)//condition: 1|1|0 turn LEFT
{
leftMotor->setSpeed(90);
rightMotor->setSpeed(90);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
}
else if (val1 <100 && val2 >100 && val3 >100)//condition: 0|1|1 go STRAIGHT
{
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
else if (val1 <90 && val2 <100 && val3 >90)//condition: 0|0|1 turn RIGHT
{
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
}
else if (val1 >90 && val2 <100 && val3 <90)//condition: 1|0|0 turn LEFT
{
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
leftMotor->run(BACKWARD);
rightMotor->run(FORWARD);
}
else if (val1 <100 && val2 <100 && val3 <100)//condition: 0|0|0 TURN AROUND
{
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
leftMotor->run(BACKWARD);
rightMotor->run(FORWARD);
}
else if (val1 >100 && val2 >100 && val3 >100)//condition: 1|1|1 turn LEFT
{
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
}
}
// LDR to Pin A0
//1 Kilo ohm resistor
//The built-in Arduino code "ColorMixingLamp" was used to write this code.
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
// Select selecting the motors
Adafruit_DCMotor *leftMotor = AFMS.getMotor(2);
//You can also make another motor on port M2
Adafruit_DCMotor *rightMotor = AFMS.getMotor(3);
const int LDR = A0;
int val1 = 0; // variable to store the value read
void setup() {
Serial.begin(9600);
Serial.println("Motors are working");
delay(2000);
AFMS.begin();
}
void loop() {
val1 = analogRead(LDR);
Serial.print("raw LDR Value " );
Serial.print(LDR);
Serial.print("Mapped LDR Value ");
Serial.println(val1);
//Photosensor reading the ambient light should be below 200
if (val1 < 200)
{
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
//If the photosensor reads a large increase in light the motors are shut off
else if (val1 > 250)
{
leftMotor->setSpeed(70);
rightMotor->setSpeed(70);
leftMotor->run(RELEASE);
rightMotor->run(RELEASE);
}
}
//1 Kilo ohm resistor
//The built-in Arduino code "ColorMixingLamp" was used to write this code.
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
// Select selecting the motors
Adafruit_DCMotor *leftMotor = AFMS.getMotor(2);
//You can also make another motor on port M2
Adafruit_DCMotor *rightMotor = AFMS.getMotor(3);
const int LDR = A0;
int val1 = 0; // variable to store the value read
void setup() {
Serial.begin(9600);
Serial.println("Motors are working");
delay(2000);
AFMS.begin();
}
void loop() {
val1 = analogRead(LDR);
Serial.print("raw LDR Value " );
Serial.print(LDR);
Serial.print("Mapped LDR Value ");
Serial.println(val1);
//Photosensor reading the ambient light should be below 200
if (val1 < 200)
{
leftMotor->setSpeed(100);
rightMotor->setSpeed(100);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
//If the photosensor reads a large increase in light the motors are shut off
else if (val1 > 250)
{
leftMotor->setSpeed(70);
rightMotor->setSpeed(70);
leftMotor->run(RELEASE);
rightMotor->run(RELEASE);
}
}
