#define enA 9
#define enB 10
int L = A0;
int M = A1;
int R = A2;
int in1 = 7;
int in2 = 6;
int in3 = 5;
int in4 = 4;
void setup() {
pinMode(L, INPUT);
pinMode(R, INPUT);
pinMode(M, INPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
}
void loop() {
if (digitalRead(L) == HIGH && digitalRead(M) == HIGH && digitalRead(R) == HIGH) {
//go forward
forward();
}
if (digitalRead(L) == HIGH && digitalRead(M) == LOW && digitalRead(R) == LOW) {
//go left
forward(); //but go left
}
if (digitalRead(L) == HIGH && digitalRead(M) == LOW && digitalRead(R) == HIGH) {
//go forward
forward();
}
if (digitalRead(L) == HIGH && digitalRead(M) == HIGH && digitalRead(R) == LOW) { //
//go foward
Bleft(); //but go forward
}
if (digitalRead(L) == LOW && digitalRead(M) == LOW && digitalRead(R) == HIGH) { //
//go right
forward(); //but go right
}
if (digitalRead(L) == LOW && digitalRead(M) == HIGH && digitalRead(R) == HIGH) { //
//go forward
delay(50);
Bright(); //but go forward
}
if (digitalRead(L) == LOW && digitalRead(M) == HIGH && digitalRead(R) == LOW) {
forward();
010
}
if (digitalRead(L) == LOW && digitalRead(M) == LOW && digitalRead(R) == LOW) {
forward();
//goback();
}
}
void forward() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(enA, 150);
analogWrite(enB, 158);
}
void Bright() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
analogWrite(enA, 100);
analogWrite(enB, 0);
}
void Bleft() {
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(enA, 0);
analogWrite(enB, 108);
}
void goback() {
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
analogWrite(enA, 100);
analogWrite(enB, 100);
}
I write code like this and connected the circuit like this.
when 3 IR sensors have a value of 100, 110, 001 and 011, it works the other way around. I also checked several times that the circuit connection is also correct with three people. Is this problem unconditionally a circuit problem?
If I write it according to the code above, the machine senses it as desired and makes the operation correct. However, if the machine goes along the black line and misses the black line, it has to catch it again, but once it goes off the path, it goes the wrong way. How can you solve it?
Is it necessary to move backward?
I adjusted the sensitivity of the IR sensor. I narrowed down the width of the three IR sensors. I thought the machine was too fast to sense it properly, so I slowed it down. But it hasn't been resolved.
J-M-L
October 25, 2023, 10:05am
2
your code is incomplete
if you have two power supplies you need to join gnds in some way
That's right. So I use 4 1.5 volt batteries and 1 9V battery. I edited the code. Thank you.
I'm sorry I didn't upload the circuit picture properly. Unlike that circuit picture, the GND is also connected correctly, so the motor works properly. Sensing is the problem...
J-M-L
October 25, 2023, 10:25am
6
if you run this code:
#define enA 9
#define enB 10
int in1 = 7;
int in2 = 6;
int in3 = 5;
int in4 = 4;
void goForward() {
digitalWrite(in2, LOW);
digitalWrite(in4, LOW);
digitalWrite(in1, HIGH);
digitalWrite(in3, HIGH);
analogWrite(enA, 150);
analogWrite(enB, 158);
}
void goRight() {
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
digitalWrite(in1, HIGH);
analogWrite(enA, 100);
digitalWrite(enB, LOW);
}
void goLeft() {
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
digitalWrite(enA, LOW);
analogWrite(enB, 108);
}
void goBack() {
digitalWrite(in1, LOW);
digitalWrite(in3, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in4, HIGH);
analogWrite(enA, 100);
analogWrite(enB, 100);
}
void stop() {
digitalWrite(enA, LOW);
digitalWrite(enB, LOW);
}
void setup() {
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
goForward(); delay(5000);
goRight(); delay(5000);
goLeft(); delay(5000);
goBack(); delay(5000);
stop();
}
void loop() {}
do you see the motors doing the right thing ?
go forward for 5 secs
go right for 5 secs
go left for 5 secs
go back for 5 secs
then stop
?
J-M-L
October 25, 2023, 10:40am
8
OK then check your sensors
this code should print 3 letters (a * for ON, a dot for off) for the state of the 3 sensors, each time there is a change
const byte leftSensorPin = A0;
const byte middleSensorPin = A1;
const byte rightSensorPin = A2;
bool leftSensorIsOn, middleSensorIsOn, rightSensorIsOn;
bool sensorsChanged() {
static bool previousStateLeft, previousStateMidlle, previousStateRight;
leftSensorIsOn = digitalRead(leftSensorPin) == HIGH;
middleSensorIsOn = digitalRead(middleSensorPin) == HIGH;
rightSensorIsOn = digitalRead(rightSensorPin) == HIGH;
if ((previousStateLeft != leftSensorIsOn) || (previousStateMidlle != middleSensorIsOn) || (previousStateRight != rightSensorIsOn)) {
previousStateLeft = leftSensorIsOn;
previousStateMidlle = middleSensorIsOn;
previousStateRight = rightSensorIsOn;
return true;
}
return false;
}
void setup() {
pinMode(leftSensorPin, INPUT);
pinMode(middleSensorPin, INPUT);
pinMode(rightSensorPin, INPUT);
}
void loop() {
if (sensorsChanged()) {
Serial.write(leftSensorIsOn ? '*' : '.');
Serial.write(middleSensorIsOn ? '*' : '.');
Serial.println(rightSensorIsOn ? '*' : '.');
}
}
does this work?
Yes It works. Thank you for helping me!!
What's wrong with sensors and motors when they work properly? If there's anything weird in a few days, can I come ask you?
J-M-L
October 25, 2023, 11:55am
11
so now it's a matter of putting both codes together
give it a try and post your work
you can of course come back with questions
system
April 22, 2024, 11:56am
12
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