roboforum.ru

#define ENA_PIN   3 // ENA attach to pin5 
#define ENB_PIN   11// ENB attach to pin6

#define MOTOR_L_1 12 // MOTOR_L_1 attach to pin8
#define MOTOR_L_2 9 // MOTOR_L_1 attach to pin9

#define MOTOR_R_1 13 // MOTOR_R_1 attach to pin10
#define MOTOR_R_2 8 // MOTOR_R_1 attach to pin11

#define FORWARD 0  //define forward=0,car move forward
#define BACK    1 //define back=1,car move back

#define LIGHT_LEFT_1_PIN  A0 //attach the left first Tracking module pinA0 to A0
#define LIGHT_LEFT_2_PIN  A1 //attach the left second Tracking module pinA0 to A1
#define LIGHT_MIDDLE_PIN  A2 //attach the module Tracking module pinA0 to A2
#define LIGHT_RIGHT_1_PIN A3 //attach the right  second Tracking module pinA0 to A3
#define LIGHT_RIGHT_2_PIN A4 //attach the right first Tracking module pinA0 to A4

#define SPEED 180 //define SPEED=180,it is the rotate speed of motor

unsigned char flag = 3;
unsigned char angle = 90;

void setup()
{
  /* set below pins as OUTPUT */
 
  pinMode(ENA_PIN, OUTPUT);
  pinMode(ENB_PIN, OUTPUT);
 
  pinMode(MOTOR_L_1, OUTPUT);
  pinMode(MOTOR_L_2, OUTPUT);
  pinMode(MOTOR_R_1, OUTPUT);
  pinMode(MOTOR_R_2, OUTPUT);
}

void loop()
{
  if (analogRead(LIGHT_LEFT_1_PIN) > 758) //if read the value of the left first Tracking module pinA0 is more than 758
    flag = 1;//flag=1
 
  else if (analogRead(LIGHT_LEFT_2_PIN) > 758) //if read the value of the left second Tracking module pinA0 is more than 758
    flag = 2;
 
  else if (analogRead(LIGHT_MIDDLE_PIN) > 758) //if read the value of the module Tracking module pinA0 is more than 758
    flag = 3;
 
  else if (analogRead(LIGHT_RIGHT_2_PIN) > 758) //if read the value of the right  second Tracking module pinA0 is more than 758
    flag = 4;
 
  else if (analogRead(LIGHT_RIGHT_1_PIN) > 758) //if read the value of the right first Tracking module pinA0 is more than 758
    flag = 5;
  else
    flag = 6;
  CAR_move(FORWARD, SPEED, SPEED); //car move forward with speed 180
}

void CAR_move(unsigned char direction, unsigned char speed_left, unsigned char speed_right)
{
  switch (direction)
  {
    //car move forward with speed 180
    case 0:
      digitalWrite(MOTOR_L_1, HIGH); digitalWrite(MOTOR_L_2, LOW); //left motor clockwise rotation
      digitalWrite(MOTOR_R_1, HIGH); digitalWrite(MOTOR_R_2, LOW); break; //right motor clockwise rotation
    //car move back with speed 180
    case 1:
      digitalWrite(MOTOR_L_1, LOW); digitalWrite(MOTOR_L_2, HIGH);
      digitalWrite(MOTOR_R_1, LOW); digitalWrite(MOTOR_R_2, HIGH); break;
    default: break;
  }
  analogWrite(ENA_PIN, speed_left); //write speed_left to ENA_PIN,if speed_left is high,allow left motor rotate
  analogWrite(ENB_PIN, speed_right); //write speed_right to ENB_PIN,if speed_right is high,allow right motor rotate
}