Skip to content

Create doline_v2.ino #2

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
techbot-dev wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Create doline_v2.ino #2

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
259 changes: 259 additions & 0 deletions doline_v2.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,259 @@
#define LEFT_SENSOR 11
#define RIGHT_SENSOR 8
#define MIDDLE_LEFT_SENSOR 10
#define MIDDLE_RIGHT_SENSOR 9

#define IR_MIDDLE A2


#define SPEED 80
#define LINE_BLACK_VALUE 0
#define LINE_WHITE_VALUE 1

int EN_RIGHT = 3; // PWM
int IN1 = 2;
int IN2 = 4;

int EN_LEFT = 5; // PWM
int IN3 = 6;
int IN4 = 7;

void TURN_LEFT() {
digitalWrite(IN1, 0);
digitalWrite(IN2, 1);

digitalWrite(IN3, 1);
digitalWrite(IN4, 0);
}
void TURN_RIGHT() {
digitalWrite(IN1, 1);
digitalWrite(IN2, 0);

digitalWrite(IN3, 0);
digitalWrite(IN4, 1);
}

void TURN_AHEAD() {
digitalWrite(IN1, 1);
digitalWrite(IN2, 0);

digitalWrite(IN3, 1);
digitalWrite(IN4, 0);
}

void TURN_BACK() {
digitalWrite(IN1, 0);
digitalWrite(IN2, 1);

digitalWrite(IN3, 0);
digitalWrite(IN4, 1);
}
void setup() {
Serial.begin(9600);
// put your setup code here, to run once:
pinMode(EN_RIGHT, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);

pinMode(EN_LEFT, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);

digitalWrite(IN1, 1);
digitalWrite(IN2, 0);
digitalWrite(IN3, 1);
digitalWrite(IN4, 0);
analogWrite(EN_RIGHT, 100);
analogWrite(EN_LEFT, 100);



}

int left_speed_front = 0;
int right_speed_front = 0;


unsigned long tag = 0, interval = 500;
// lui - trai - thang - phai - thang - phai - thang - trai
int delays[9]={200, 500, 200, 500, 300, 500, 200, 400, 500};
uint8_t sequence = 255;

bool vatCan = false;
bool done = false;
bool line = true;

void loop() {

int irSensorCenter = analogRead(IR_MIDDLE);
int right = digitalRead(RIGHT_SENSOR);
int left = digitalRead(LEFT_SENSOR);

int middle_right = digitalRead(MIDDLE_RIGHT_SENSOR);
int middle_left = digitalRead(MIDDLE_LEFT_SENSOR);

// Serial.print("right:");
// Serial.print(right);
// Serial.print(" - ");
// Serial.print("middle right:");
// Serial.print(middle_right);
// Serial.print(" - ");
// Serial.print("leftt:");
// Serial.print(left);
// Serial.print(" - ");
// Serial.print("middle left:");
// Serial.print(middle_left);
// Serial.println("");
// delay(800);


// if (irSensorCenter < 500 && done == false) {

// sequence = 0;
// tag = millis();
// done = true;
// }


// if (sequence < 9 && (millis() - tag > delays[sequence])) {
// tag = millis();
// if (sequence != 255 && sequence < 9) sequence++;
// Serial.println(sequence);
// }


// switch (sequence) {
// case 0:
// TURN_BACK();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);
// break;

// case 1:
// TURN_LEFT();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);
// break;

// case 2:
// TURN_AHEAD();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);
// break;

// case 3:
// TURN_RIGHT();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);
// break;

// case 4:
// TURN_AHEAD();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);;
// break;

// case 5:
// TURN_RIGHT();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);
// break;

// case 6:
// TURN_AHEAD();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);
// break;

// case 7:
// TURN_LEFT();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);
// break;

// case 8:
// TURN_AHEAD();
// left_speed_front = 100;
// right_speed_front = 100;
// analogWrite(EN_LEFT, left_speed_front);
// analogWrite(EN_RIGHT, right_speed_front);
// break;

// }

// // // END
// if ((sequence > 8 && sequence != 255) || (middle_left == LINE_WHITE_VALUE && left == LINE_WHITE_VALUE) || (middle_right == LINE_WHITE_VALUE && right == LINE_WHITE_VALUE)) {
// // AHEAD
// sequence = 255;
// // DO LINE
// line = true;
// }

// if (line == true) {


if (right == LINE_BLACK_VALUE && middle_right == LINE_BLACK_VALUE && left == LINE_BLACK_VALUE && middle_left == LINE_BLACK_VALUE) {
Serial.println("TURN RIGHT");
TURN_RIGHT();
left_speed_front = 100;
right_speed_front = 120;
}
else if ((middle_left == LINE_WHITE_VALUE || middle_right == LINE_WHITE_VALUE) && (left == LINE_BLACK_VALUE && right == LINE_BLACK_VALUE) ) {
Serial.println("FORWARD");
TURN_AHEAD();
left_speed_front = 100;
right_speed_front = 100;
}

// 90
else if ( (left == LINE_WHITE_VALUE && middle_left == LINE_WHITE_VALUE) || (left == LINE_WHITE_VALUE && middle_left == LINE_WHITE_VALUE && middle_right == LINE_WHITE_VALUE) ) {
Serial.println("TURN RIGHT AA");
TURN_RIGHT();
left_speed_front = 100;
right_speed_front = 150;
}
else if ( (right == LINE_WHITE_VALUE && middle_right == LINE_WHITE_VALUE) || (right == LINE_WHITE_VALUE && middle_right == LINE_WHITE_VALUE && middle_left == LINE_WHITE_VALUE) ) {
Serial.println("TURN LEFT BB");
TURN_LEFT();
left_speed_front = 150;
right_speed_front = 100;
}

else if (left == LINE_BLACK_VALUE && middle_right == LINE_WHITE_VALUE && middle_left == LINE_BLACK_VALUE ) {
Serial.println("TURN LEFT CC");
TURN_LEFT();
left_speed_front = 100;
right_speed_front = 60;
}
else if (right == LINE_BLACK_VALUE && middle_left == LINE_WHITE_VALUE && middle_right == LINE_BLACK_VALUE ) {
Serial.println("TURN RIGHT");
TURN_RIGHT();
left_speed_front = 60;
right_speed_front = 100;
}





analogWrite(EN_LEFT, left_speed_front);
analogWrite(EN_RIGHT, right_speed_front);

// }
}