Capstone_Project_Code.ino

//motor pin setup on I/O pins 2-7
int motor1pin1 = 2;
int motor1pin2 = 4;
int motor1pin3 = 3;

int motor2pin1 = 6;
int motor2pin2 = 7;
int motor2pin3 = 5;

// sensor pin setup
int trigPin = 8; // I/O pin 8
int echoPin = A5; // Analog pin 5

// LEDs on I/O pin 11-13
int LED1 = 11;
int LED2 = 12;
int LED3 = 13;

// distance variables defined
long duration, distance;

// Potentiometer variables defined
int disPin = A0;
int dis;
int setdis;

void setup() {
  // pinmode setup for all pins previously defined
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  
  pinMode(motor1pin1, OUTPUT);
  pinMode(motor1pin2, OUTPUT);
  pinMode(motor1pin3, OUTPUT);
  
  pinMode(motor2pin1, OUTPUT);
  pinMode(motor2pin2, OUTPUT);
  pinMode(motor2pin3, OUTPUT);
  
  pinMode(LED1, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED3, OUTPUT);
  pinMode(disPin,INPUT);
  
  // Serial port useful for debugging 
  Serial.begin(9600);
}

void loop() {
  // redefine potentiometer values into distance variables 
  dis = analogRead(disPin);
  setdis = map(dis, 0, 1023, 5, 90); //actually 5-83 for some reason
  
  // Send potentiometer values through serial port for distance testing
  Serial.println(setdis);
  
  // LED indicators programmed to shine once a certain threshhold is reached by the potentiometer
  if(setdis >= 65){
    digitalWrite(LED1, HIGH);
    digitalWrite(LED2, HIGH);
    digitalWrite(LED3, HIGH);
  }
  else if(setdis >= 30 && setdis <= 64){
    digitalWrite(LED1, HIGH);
    digitalWrite(LED2, HIGH);
    digitalWrite(LED3, LOW);
  }
  else if(setdis <= 29){
    digitalWrite(LED1, HIGH);
    digitalWrite(LED2, LOW);
    digitalWrite(LED3, LOW);
  }
  
  // Sensor translation into inches
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    duration = pulseIn(echoPin, HIGH);
    distance = (duration/2) / 74;
    
  // Once the Followbot senses an object in range, it stops until the object is no longer in range
    if (distance <= setdis) {
      analogWrite(motor1pin3, 0);
      digitalWrite(motor1pin1, LOW);
      digitalWrite(motor1pin2, LOW);
      
      analogWrite(motor2pin3, 0);
      digitalWrite(motor2pin1, LOW);
      digitalWrite(motor2pin2, LOW);
    }
  // While no object is in range, the Followbot will continue moving forward until an object is in range
    else{
      analogWrite(motor1pin3, 255);
      digitalWrite(motor1pin1, HIGH);
      digitalWrite(motor1pin2, LOW);
      
      analogWrite(motor2pin3, 255);
      digitalWrite(motor2pin1, HIGH);
      digitalWrite(motor2pin2, LOW);
    }
}