Freenove Tracking Line

Using Arduino Programming Questions
1

I have a Freenove line following robot but the robot goes to fast. How can I pause the code or put a delay in the code so that the robot only drives ±1 meter and then pause for a while?
I tried to put delays in the code but it does not work, can somebody help me?

This is the code:

#define PIN_SERVO 2
#define PIN_DIRECTION_LEFT 4
#define PIN_DIRECTION_RIGHT 3
#define PIN_MOTOR_PWM_LEFT 6
#define PIN_MOTOR_PWM_RIGHT 5
#define PIN_SONIC_TRIG 7
#define PIN_SONIC_ECHO 8
#define PIN_IRREMOTE_RECV 9
#define PIN_SPI_CE 9
#define PIN_SPI_CSN 10
#define PIN_SPI_MOSI 11
#define PIN_SPI_MISO 12
#define PIN_SPI_SCK 13
#define PIN_BATTERY A0
#define PIN_BUZZER A0
#define PIN_TRACKING_LEFT A1
#define PIN_TRACKING_CENTER A2
#define PIN_TRACKING_RIGHT A3
#define MOTOR_PWM_DEAD 10

#define TK_STOP_SPEED 0
#define TK_FORWARD_SPEED (90 + tk_VoltageCompensationToSpeed )

//define different speed levels
int tk_VoltageCompensationToSpeed; //define Voltage Speed Compensation
#define TK_TURN_SPEED_LV4 (160 + tk_VoltageCompensationToSpeed )
#define TK_TURN_SPEED_LV3 (130 + tk_VoltageCompensationToSpeed )
#define TK_TURN_SPEED_LV2 (-120 + tk_VoltageCompensationToSpeed )
#define TK_TURN_SPEED_LV1 (-140 + tk_VoltageCompensationToSpeed )

float batteryVoltage = 0;
bool isBuzzered = false;

void setup() {

  • pinsSetup(); //set up pins*
  • getTrackingSensorVal();//Calculate Voltage speed Compensation*
    }

void loop() {

  • u8 trackingSensorVal = 0;*

  • trackingSensorVal = getTrackingSensorVal(); //get sensor value*

  • switch (trackingSensorVal)*

  • {*

  • case 0: //000*

  •  motorRun(TK_FORWARD_SPEED, TK_FORWARD_SPEED); //car move forward*

  •  break;*

  • case 7: //111*

  •  motorRun(TK_STOP_SPEED, TK_STOP_SPEED); //car stop*

  •  break;*

  • case 1: //001*

  •  motorRun(TK_TURN_SPEED_LV4, TK_TURN_SPEED_LV1); //car turn*

  •  break;*

  • case 3: //011*

  •  motorRun(TK_TURN_SPEED_LV3, TK_TURN_SPEED_LV2); //car turn right*

  •  break;*

  • case 2: //010*

  • case 5: //101*

  •  motorRun(TK_FORWARD_SPEED, TK_FORWARD_SPEED);  //car move forward*

  •  break;*

  • case 6: //110*

  •  motorRun(TK_TURN_SPEED_LV2, TK_TURN_SPEED_LV3); //car turn left*

  •  break;*

  • case 4: //100*

  •  motorRun(TK_TURN_SPEED_LV1, TK_TURN_SPEED_LV4); //car turn right*

  •  break;*

  • default:*

  •  break;*

  • }*
    }

void tk_CalculateVoltageCompensation() {

  • getBatteryVoltage();*
  • float voltageOffset = 7 - batteryVoltage;*
  • tk_VoltageCompensationToSpeed = 30 * voltageOffset;*
    }

//when black line on one side is detected, the value of the side will be 0, or the value is 1
u8 getTrackingSensorVal() {

  • u8 trackingSensorVal = 0;*
  • trackingSensorVal = (digitalRead(PIN_TRACKING_LEFT) == 1 ? 1 : 0) << 2 | (digitalRead(PIN_TRACKING_CENTER) == 1 ? 1 : 0) << 1 | (digitalRead(PIN_TRACKING_RIGHT) == 1 ? 1 : 0) << 0;*
  • return trackingSensorVal;*
    }

void pinsSetup() {

  • //define motor pin*
  • pinMode(PIN_DIRECTION_LEFT, OUTPUT);*
  • pinMode(PIN_MOTOR_PWM_LEFT, OUTPUT);*
  • pinMode(PIN_DIRECTION_RIGHT, OUTPUT);*
  • pinMode(PIN_MOTOR_PWM_RIGHT, OUTPUT);*
  • //define ultrasonic moduel pin*
  • pinMode(PIN_SONIC_TRIG, OUTPUT);*
  • pinMode(PIN_SONIC_ECHO, INPUT);*
  • //define tracking sensor pin*
  • pinMode(PIN_TRACKING_LEFT, INPUT);*
  • pinMode(PIN_TRACKING_RIGHT, INPUT);*
  • pinMode(PIN_TRACKING_CENTER, INPUT);*
  • setBuzzer(false);*
    }

void motorRun(int speedl, int speedr) {

  • int dirL = 0, dirR = 0;*
  • if (speedl > 0) {*
  • dirL = 0;*
  • }*
  • else {*
  • dirL = 1;*
  • speedl = -speedl;*
  • }*
  • if (speedr > 0) {*
  • dirR = 1;*
  • }*
  • else {*
  • dirR = 0;*
  • speedr = -speedr;*
  • }*
  • speedl = constrain(speedl, 0, 255); // speedl absolute value should be within 0~255*
  • speedr = constrain(speedr, 0, 255); // speedr absolute value should be within 0~255*
  • digitalWrite(PIN_DIRECTION_LEFT, dirL);*
  • digitalWrite(PIN_DIRECTION_RIGHT, dirR);*
  • analogWrite(PIN_MOTOR_PWM_LEFT, speedl);*
  • analogWrite(PIN_MOTOR_PWM_RIGHT, speedr);*
    }

bool getBatteryVoltage() {

  • if (!isBuzzered) {*
  • pinMode(PIN_BATTERY, INPUT);*
  • int batteryADC = analogRead(PIN_BATTERY);*
  • if (batteryADC < 614) // 3V/12V ,Voltage read: <2.1V/8.4V*
  • {*
  •  batteryVoltage = batteryADC / 1023.0 * 5.0 * 4;*

  •  return true;*
  • }*
  • }*
  • return false;*
    }

void setBuzzer(bool flag) {

  • isBuzzered = flag;*
  • pinMode(PIN_BUZZER, flag);*
  • digitalWrite(PIN_BUZZER, flag);*
    }

void alarm(u8 beat, u8 repeat) {

  • beat = constrain(beat, 1, 9);*
  • repeat = constrain(repeat, 1, 255);*
  • for (int j = 0; j < repeat; j++) {*
  • for (int i = 0; i < beat; i++) {*
  •  setBuzzer(true);*

  •  delay(100);*

  •  setBuzzer(false);*

  •  delay(100);*
  • }*
  • delay(500);*
  • }*
    }

void resetCarAction() {

  • motorRun(0, 0);*
  • setBuzzer(false);*
    }
2

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3

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