Help improve my Line Following Robt code?

Forum 2005-2010 (read only) General Frequently-Asked Questions
1

Pleas, my robot is very jagety and in eficient at running. i would love some help to improve on my code!

#include <Servo.h> 

Servo motorLeft;
Servo motorRight;

int LIGHT = 13;
int pRL = 2;
int pRM = 1;
int pRR = 0;
int RL;
int RM;
int RR;
       
void setup(void) {
  motorLeft.attach(9);
  motorRight.attach(10);
  Serial.begin(9600);   
}

void loop(void) {
  digitalWrite(LIGHT, HIGH);
  RL = analogRead(pRL);  
  RM = analogRead(pRM);
  RR = analogRead(pRR);
  //RL = 1023 - RL;
  //RM = 1023 - RM;
  //RR = 1023 - RR;
  if (RM < (RL-25) || RM > (RL+25) && RM < (RR-25) || RM > (RR+25)){
   Serial.print("MID =");
   Serial.println(RM); 
   motorLeft.write(60);
   motorRight.write(120);
  }
  
  if(RM > (RL-25) && RM < (RL+25)){
  motorLeft.write(60);
  motorRight.write(60);
  Serial.print("LEFT = ");
  Serial.println(RL);
  }
  
  if(RM > (RR-25) && RM < (RR+25)){
   Serial.print("RIGHT = ");
   Serial.println(RR);
   motorLeft.write(120);
   motorRight.write(120);
  }
  
   
  
  //Serial.print("PRL = ");
  //Serial.println(RL);
  //Serial.print("PRM = ");
  //Serial.println(RM);     
  //Serial.print("PRR = ");
  //erial.println(RR);
  
  delay(100);
}
2

First thing I notice about the code:

   motorLeft.write(60);
   motorRight.write(120);

  motorLeft.write(60);
  motorRight.write(60);

   motorLeft.write(120);
   motorRight.write(120)

;
I'd expect that last set of values to be 120 and 60.

Second thing I'd do is add a statement near the top of the sketch:

#define DIFF 25

Then, everywhere where 25 is present in the code, I'd replace it with DIFF.

If you decide that 25 is too large a difference between left/right and center readings (and it probably is), you'd only need to change the value in one place, instead of 8 places.