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ArduinoEdubot.ino
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ArduinoEdubot.ino
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//Example sketch for Cytron Arduino Edubot
//Parts required:
//CT Uno
//2Amp Motor Driver Shield
//LSS05 Auto-Calibrating Line Sensor
//More info available at http://tutorial.cytron.com.my/
//Pin declaration
int RightEn = 5;
int RightDir = 4;
int LeftEn = 6;
int LeftDir = 7;
int LeftSen = A1;
int LeftMSen = A2;
int MidSen = A3;
int RightMSen = A4;
int RightSen = A5;
void setup()
{
//Motor Driver Pin Setup
pinMode(RightEn,OUTPUT);
pinMode(RightDir,OUTPUT);
pinMode(LeftEn,OUTPUT);
pinMode(LeftDir,OUTPUT);
digitalWrite(RightDir,HIGH);
digitalWrite(LeftDir,LOW);
//LSS05 Auto-Calibrating Line Sensor Pin Setup
pinMode(LeftSen,INPUT);
pinMode(LeftMSen,INPUT);
pinMode(MidSen,INPUT);
pinMode(RightMSen,INPUT);
pinMode(RightSen,INPUT);
}
void loop()
{
if((digitalRead(LeftSen)==0)&&(digitalRead(LeftMSen)==0)&&(digitalRead(MidSen)==1)&&(digitalRead(RightMSen)==0)&&(digitalRead(RightSen)==0))
{
analogWrite(RightEn, 200); //PWM Speed Control
analogWrite(LeftEn, 200); //PWM Speed Control
}
else if((digitalRead(LeftSen)==0)&&(digitalRead(LeftMSen)==1)&&(digitalRead(MidSen)==1)&&(digitalRead(RightMSen)==0)&&(digitalRead(RightSen)==0))
{
analogWrite(RightEn, 200); //PWM Speed Control
analogWrite(LeftEn, 140); //PWM Speed Control
}
else if((digitalRead(LeftSen)==0)&&(digitalRead(LeftMSen)==1)&&(digitalRead(MidSen)==0)&&(digitalRead(RightMSen)==0)&&(digitalRead(RightSen)==0))
{
analogWrite(RightEn, 200); //PWM Speed Control
analogWrite(LeftEn, 90); //PWM Speed Control
}
else if((digitalRead(LeftSen)==1)&&(digitalRead(LeftMSen)==1)&&(digitalRead(MidSen)==0)&&(digitalRead(RightMSen)==0)&&(digitalRead(RightSen)==0))
{
analogWrite(RightEn, 200); //PWM Speed Control
analogWrite(LeftEn, 50); //PWM Speed Control
}
else if((digitalRead(LeftSen)==1)&&(digitalRead(LeftMSen)==0)&&(digitalRead(MidSen)==0)&&(digitalRead(RightMSen)==0)&&(digitalRead(RightSen)==0))
{
analogWrite(RightEn, 200); //PWM Speed Control
analogWrite(LeftEn, 0); //PWM Speed Control
}
else if((digitalRead(LeftSen)==0)&&(digitalRead(LeftMSen)==0)&&(digitalRead(MidSen)==1)&&(digitalRead(RightMSen)==1)&&(digitalRead(RightSen)==0))
{
analogWrite(RightEn, 140); //PWM Speed Control
analogWrite(LeftEn, 200); //PWM Speed Control
}
else if((digitalRead(LeftSen)==0)&&(digitalRead(LeftMSen)==0)&&(digitalRead(MidSen)==0)&&(digitalRead(RightMSen)==1)&&(digitalRead(RightSen)==0))
{
analogWrite(RightEn, 90); //PWM Speed Control
analogWrite(LeftEn, 200); //PWM Speed Control
}
else if((digitalRead(LeftSen)==0)&&(digitalRead(LeftMSen)==0)&&(digitalRead(MidSen)==0)&&(digitalRead(RightMSen)==1)&&(digitalRead(RightSen)==1))
{
analogWrite(RightEn, 50); //PWM Speed Control
analogWrite(LeftEn, 200); //PWM Speed Control
}
else if((digitalRead(LeftSen)==0)&&(digitalRead(LeftMSen)==0)&&(digitalRead(MidSen)==0)&&(digitalRead(RightMSen)==0)&&(digitalRead(RightSen)==1))
{
analogWrite(RightEn, 0); //PWM Speed Control
analogWrite(LeftEn, 200); //PWM Speed Control
}
}