Aid in the programming of a robot

Projects Programming
1

Good evening guys, I'm building a robot that can operate in three different modes, follow the light, running away from the light and change direction when it bumps into. the problem is that I do not understand how to enter the code, why should I cut a piece at the end, please help me

below said first behavior then the second and third.

sorry for my bad English : D : D

/*
 Simple braitenberg vehicle + Obstacle avoiding.
 
 Robot driven by 2 Continuous Rotation Servos.
 Servos controlled by LDRs in front of robot.
 
 The behaviour (light seeking/light avoiding) is determined by which LDR is controlling which servo.
 The analog read values from LDRs are mapped to control the continous rotation servos.
 A tactical switch on pin7 triggers the robot to turn around in case of an obstacle.
 
 The robot can have 3 different behaviours.
 */

#include <Servo.h>

Servo leftServo;
Servo rightServo;

int leftValue = 0;
int rightValue = 0;
int MAXspeed = 0.5; // Value from 0-1

void setup() {              

  // obstacle avoiding switch pin
  pinMode(7, INPUT_PULLUP);   // This line pulls the pin HIGH
  digitalWrite(7, HIGH);

  // LEDeye of robot
  pinMode(6, OUTPUT);
  digitalWrite(6, LOW);

  leftServo.attach(10);
  rightServo.attach(9);
} 

void loop() { 

  // robot hits an obstacle: turns around 180 degree
  if (digitalRead(7)==LOW){
    digitalWrite(6, HIGH);      //blink eye
    delay(100);
    leftServo.write(90);        //stop left servo
    delay(100);
    rightServo.write(90);       //stop left servo
    delay(100);
    digitalWrite(6, LOW);      

    //go back for half a second
    leftServo.write(90 - 10);
    rightServo.write(90 + 25);
    delay(500);

    //turn around right
    leftServo.write(90 + 30);
    rightServo.write(90 + 30);
    delay(700);
  }

  // read LDRs
  leftValue = analogRead(0);
  rightValue = analogRead(1);

  leftValue = map(leftValue, 0, 1023, 0, 89);       // scale it to use it with the servo (value between 0 and 180) 
  rightValue = map(rightValue, 0, 1023, 0, 89);     // scale it to use it with the servo (value between 0 and 180) 

  // First behaviour: calibrating servos for going straight
  // leftServo.write(90 + 18);
  // rightServo.write(90 - 15);  

  // Second behaviour: follow the light
  left.Servo(90 + rightValue);
  right.Servo(90 - leftValue);

  // Third behaviour: avoid the light
  // left.Servo(90 - rightValue);
  // right.Servo(90 + leftValue);

  delay(100);
}

Moderator edit: code tags.

2

I'm building a robot that can operate in three different modes,

You need to decide how you're going to select which behaviour you want, and whether you decide at run-time or at compile-time.

3

excuse me you could fix the code ??

4

Fix it how?
Add the code tags that you missed out?

Sure.

5

excuse what should I post?

6

this is the link

/*
Simple braitenberg vehicle + Obstacle avoiding.

Robot driven by 2 Continuous Rotation Servos.
Servos controlled by LDRs in front of robot.

The behaviour (light seeking/light avoiding) is determined by which LDR is controlling which servo.
The analog read values from LDRs are mapped to control the continous rotation servos.
A tactical switch on pin7 triggers the robot to turn around in case of an obstacle.

The robot can have 3 different behaviours.
*/

#include <Servo.h>

Servo leftServo;
Servo rightServo;

int leftValue = 0;
int rightValue = 0;
int MAXspeed = 0.5; // Value from 0-1

void setup() {

// obstacle avoiding switch pin
pinMode(7, INPUT_PULLUP); // This line pulls the pin HIGH
digitalWrite(7, HIGH);

// LEDeye of robot
pinMode(6, OUTPUT);
digitalWrite(6, LOW);

leftServo.attach(10);
rightServo.attach(9);
}

void loop() {

// robot hits an obstacle: turns around 180 degree
if (digitalRead(7)==LOW){
digitalWrite(6, HIGH); //blink eye
delay(100);
leftServo.write(90); //stop left servo
delay(100);
rightServo.write(90); //stop left servo
delay(100);
digitalWrite(6, LOW);

//go back for half a second
leftServo.write(90 - 10);
rightServo.write(90 + 25);
delay(500);

//turn around right
leftServo.write(90 + 30);
rightServo.write(90 + 30);
delay(700);
}

// read LDRs
leftValue = analogRead(0);
rightValue = analogRead(1);

leftValue = map(leftValue, 0, 1023, 0, 89); // scale it to use it with the servo (value between 0 and 180)
rightValue = map(rightValue, 0, 1023, 0, 89); // scale it to use it with the servo (value between 0 and 180)

// First behaviour: calibrating servos for going straight
// leftServo.write(90 + 18);
// rightServo.write(90 - 15);

// Second behaviour: follow the light
left.Servo(90 + rightValue);
right.Servo(90 - leftValue);

// Third behaviour: avoid the light
// left.Servo(90 - rightValue);
// right.Servo(90 + leftValue);

delay(100);
}

7

I'm not adding code tags again; you can sort that one out

excuse what should I post?

A clear explanation of what you want to do.

8

I'm sorry I did not understand, I would like to make it work when it sees the light escapes

9

You've got the hardware and it looks like all you have to do is uncomment the right bit of the code.

You could be trying stuff, instead of ping-ponging responses here.