Problem detecting an intersection at line follower robot

Projects Discussion and Showcase Robotics
1

Hi, i have problem with detecting an intersection, counting(intersections) and do a spesific thing base on the counter at line follower robot.

I had tried solutions like StateChangeDetection and its works but i dont know how to merge to my program, i'm using 8 TCRT5000 sensor and the robot following line without move the robot body(using 4 mecanum wheels).
Here is my code :

// motor
#define R_ENa  30
#define L_ENa  31
#define R_ENb  32
#define L_ENb  33
#define R_ENc  34
#define L_ENc  35
#define R_ENd  36
#define L_ENd  37

// motor pwm
#define RPWMa  2
#define LPWMa  3
#define RPWMb  4
#define LPWMb  5
#define RPWMc  6
#define LPWMc  7
#define RPWMd  8
#define LPWMd  9

// relay
#define RELAY_ON 1
#define RELAY_OFF 0
#define Relay  22

int spd    = 100;
int spdcal = 100;
const int irPins[8] = {38, 39, 42, 43, 40, 41, 44, 45};
int irSensorDigital[8] = {0, 0, 0, 0, 0, 0, 0, 0};

int irSensors = B00000000;
int i, j = 0;

void setup() {
  Serial.begin(9600);

  for (int j = 30; j < 38; j++) {
    pinMode(j, OUTPUT);
  }
  for (int j = 2; j < 10; j++) {
    pinMode(j, OUTPUT);
  }
  for (int j = 30; j < 38; j++) {
    digitalWrite(j, HIGH);
  }
  for (int i = 0; i <= 9; i++)
  {
    pinMode(irPins[i], INPUT);
  }

  digitalWrite(Relay, RELAY_OFF);
  pinMode(Relay, OUTPUT);
}


void loop() {

  digRead();
  check();
}

void check() {
  switch (irSensors) {

    // jalan maju
    case B11000011:
      maju();
      break;

    case B11000111:
      maju();
      break;

    // kalibrasi maju

    case B11000010:
      CW();
      break;

    case B11000001:
      CCW();
      break;

    case B10000010:
      kanan();
      break;

    case B01000001:
      kiri();
      break;

    case B10000001:
      CCW();
      break;

    case B01000010:
      CW();
      break;

    case B10000011:
      CCW();
      break;

    case B01000011:
      CW();
      break;

    // jalan kanan
    case B11101111:
      kanan();
      break;

    case B11011111:
      kanan();
      break;

    case B11001111:
      kanan();
      break;

    case B00001111:
      kanan();
      break;

    case B00011111:
      kanan();
      break;

    case B00101111:
      kanan();
      break;

    case B01001111:
      kanan();
      break;

    // kalibrasi kanan
    case B00000011:
      CCW();
      break;

      case B00011001:
      kanan();
      break;

    case B10001111:
      kanan;
      break;

    case B01001101:
      CCW();
      break;

    case B00000010:
      CCW();
      break;

    case B10001110:
      CW();
      break;

    case B11001110:
      CCW();
      break;

    case B11001101:
      CCW();
      break;

    case B11001011:
      CW();
      break;

    case B00001011:
      CW();
      break;

    case B00000111:
      CCW();
      break;

    case B11001001:
      mundur();
      break;

    case B00001001:
      mundur();
      break;

    case B00000110:
      maju();
      break;

    case B00000101:
      CCW();
      break;

    case B00001010:
      CW();
      break;

    case B00001101:
      CCW();
      break;

    case B00001110:
      CW();
      break;

    // perempatan


    default:
      berhenti();

  }
  delay(1);
}

void maju() {
  analogWrite(RPWMa, spd);
  analogWrite(LPWMb, spd);
  analogWrite(RPWMc, spd);
  analogWrite(LPWMd, spd);
  analogWrite(LPWMa, 0);
  analogWrite(RPWMb, 0);
  analogWrite(LPWMc, 0);
  analogWrite(RPWMd, 0);
}

void mundur() {
  analogWrite(LPWMa, spd);
  analogWrite(RPWMb, spd);
  analogWrite(LPWMc, spd);
  analogWrite(RPWMd, spd);
  analogWrite(RPWMa, 0);
  analogWrite(LPWMb, 0);
  analogWrite(RPWMc, 0);
  analogWrite(LPWMd, 0);
}

void kiri() {
  analogWrite(RPWMa, spd);
  analogWrite(RPWMb, spd);
  analogWrite(LPWMc, spd);
  analogWrite(LPWMd, spd);
  analogWrite(LPWMa, 0);
  analogWrite(LPWMb, 0);
  analogWrite(RPWMc, 0);
  analogWrite(RPWMd, 0);
}

void kanan() {
  analogWrite(LPWMa, spd);
  analogWrite(LPWMb, spd);
  analogWrite(RPWMc, spd);
  analogWrite(RPWMd, spd);
  analogWrite(RPWMa, 0);
  analogWrite(RPWMb, 0);
  analogWrite(LPWMc, 0);
  analogWrite(LPWMd, 0);
}

void CCW() {
  analogWrite(RPWMa, spd);
  analogWrite(RPWMb, spd);
  analogWrite(RPWMc, spd);
  analogWrite(RPWMd, spd);
  analogWrite(LPWMa, 0);
  analogWrite(LPWMb, 0);
  analogWrite(LPWMc, 0);
  analogWrite(LPWMd, 0);
}

void CW() {
  analogWrite(LPWMa, spd);
  analogWrite(LPWMb, spd);
  analogWrite(LPWMc, spd);
  analogWrite(LPWMd, spd);
  analogWrite(RPWMa, 0);
  analogWrite(RPWMb, 0);
  analogWrite(RPWMc, 0);
  analogWrite(RPWMd, 0);
}

void berhenti() {
  analogWrite(LPWMa, 0);
  analogWrite(LPWMb, 0);
  analogWrite(LPWMc, 0);
  analogWrite(LPWMd, 0);
  analogWrite(RPWMa, 0);
  analogWrite(RPWMb, 0);
  analogWrite(RPWMc, 0);
  analogWrite(RPWMd, 0);
}

void periksa() {
  Serial.print(digitalRead(irPins[0]));
  Serial.print(" || ");
  Serial.print(digitalRead(irPins[1]));
  Serial.print(" || ");
  Serial.print(digitalRead(irPins[2]));
  Serial.print(" || ");
  Serial.print(digitalRead(irPins[3]));
  Serial.print(" || ");
  Serial.print(digitalRead(irPins[4]));
  Serial.print(" || ");
  Serial.print(digitalRead(irPins[5]));
  Serial.print(" || ");
  Serial.print(digitalRead(irPins[6]));
  Serial.print(" || ");
  Serial.println(digitalRead(irPins[7]));
  delay(100);
}

void digRead() {

  for ( byte count = 0; count < 8; count++ )
  {
    bitWrite(irSensors, count, digitalRead( irPins[count] ));
  }
}

I have problem like B11001111 must execute function "void maju()" at an intersection and execute "void kanan()" at another intersection.

Thank You.

2

I had problem like B11001111 must execute function "void maju()" at an intersection and execute "void kanan()" at another intersection.

The past tense, had, implies that you no longer have that problem. Is that the case? If you don't, what was the point of the post?

Where are you counting intersections, so you know which function to call when you are at an intersection? Which value(s) of irSensors means that you are at an intersection?

3

Thanks for that reply and sorry for bad grammar.
The point is that i want to use case B11001111 to excecute 2 functions which is Void maju() and Void kanan() with only 8 sensors IR. Is there any ways or logic to do that?

Thank You

4

The point is that i want to use case B11001111 to excecute 2 functions which is Void maju() and Void kanan()

The return type of the function is irrelevant. You want, when irSensors contains B11001111 to execute either maju() or kanan(). I get that. But, which one? For how long?

You must define how, when case B11001111 is executed, to decide which function to call. Call one at random? Alternate which is called?