help with my line guiding robot with 5 ir line tracking sensors plzz

Projects Discussion and Showcase Robotics
#1

heyy im a srilankan student studying in china and recently started working with arduino i did my first project with line guiding with 3 sensors it works perfect and i advanced it to 5 sensors 3 in the front and 2 first and the last one little back the code is

define EN1 6

define EN2 5

define IN1 7

define IN2 4

define FORW 1

define BACK 0

define DF_LT_r1 2

define DF_LT_r 12

define DF_LT_c 11

define DF_LT_l 10

define DF_LT_l1 1

define MOD_SEL 9

void Motor_Control(int M1_DIR,int M1_EN,int M2_DIR,int M2_EN) { //////////M1//////////////////////// if(M1_DIR==FORW) digitalWrite(IN1,HIGH); else digitalWrite(IN1,LOW); if(M1_EN==0) analogWrite(EN1,LOW); else analogWrite(EN1,M1_EN); ///////////M2////////////////////// if(M2_DIR==FORW)//M2 digitalWrite(IN2,HIGH); else digitalWrite(IN2,LOW); if(M2_EN==0) analogWrite(EN2,LOW); else analogWrite(EN2,M2_EN); } void setup() { } void loop() { int L_LT,C_LT,R_LT,L1_LT,R1_LT; int L_Val,C_Val,R_Val,L1_Val,R1_Val; if(LOW == digitalRead(MOD_SEL))

while(1)

{

L1_LT=digitalRead(DF_LT_r1); L_LT=digitalRead(DF_LT_r); C_LT=digitalRead(DF_LT_c); R_LT=digitalRead(DF_LT_l); R1_LT=digitalRead(DF_LT_l1); delay(10); L1_Val=digitalRead(DF_LT_r1); L_Val=digitalRead(DF_LT_r); C_Val=digitalRead(DF_LT_c); R_Val=digitalRead(DF_LT_l); R1_Val=digitalRead(DF_LT_l1);

if(L1_LT==L1_Val&& L_LT==L_Val&&C_LT==C_Val&&R_LT==R_Val&&R1_LT==R1_Val)

{ if(C_LT==LOW&& L_LT==HIGH && R_LT==HIGH&& L1_LT==HIGH && R1_LT==HIGH)

{

Motor_Control(FORW,150,FORW,150);

}

else if (L1_LT==HIGH && L_LT==LOW&& C_LT==LOW&& R_LT=LOW&&R1_LT==HIGH) {

Motor_Control(BACK,200,FORW,200); } else if(L1_LT==LOW&& L_LT==HIGH&& C_LT==LOW&& R_LT=HIGH&&R1_LT==LOW) {

Motor_Control(FORW,150,FORW,150); }

else if(L_LT==LOW &&(C_LT== HIGH||C_LT==LOW)&& R_LT==HIGH&& L1_LT==HIGH&& R1_LT==HIGH) {

Motor_Control(BACK,150,FORW,150); } else if(R_LT==LOW &&(C_LT== HIGH||C_LT==LOW) &&R1_LT==HIGH && L_LT==HIGH&& L1_LT==HIGH) {

Motor_Control(FORW,150,BACK,150); } else if(L1_LT==LOW &&(L_LT== HIGH||L_LT==LOW)&& R_LT==HIGH&& C_LT==HIGH&& R1_LT==HIGH) {

Motor_Control(BACK,200,FORW,200); } else if(R1_LT==LOW &&(R_LT== HIGH||R_LT==LOW) &&R_LT==HIGH && C_LT==HIGH&& L1_LT==HIGH) {

Motor_Control(FORW,200,BACK,200); }

else if(R_LT==HIGH&&C_LT== HIGH&& L_LT==HIGH&& R1_LT== HIGH&& L1_LT==HIGH) {

Motor_Control(FORW,100,BACK,100); delay(10); } else Motor_Control(FORW,0,BACK,0); delay(20) ; } } } but

else if (L1_LT==HIGH && L_LT==LOW&& C_LT==LOW&& R_LT=LOW&&R1_LT==HIGH) {

Motor_Control(BACK,200,FORW,200); }

it gives me a compiling error AS Ivalue required as left operand assignment tried to fix it its going no where your help is highly appreciated please help me fix it since i ve no one to ask here thankyou! best regards , biman

#2

R_LT=LOW

I'd guess right there.

When posting code, please use a code box by clicking on the # icon on the editor's toolbar, and pasting your code between the tags. You can (and should) go back to your post, click on "modify", highlight your code, then click on the # icon on the toolbar, then click "save".

Why is "setup" empty?

Your code could be considerably simpler if you took the time to combine the individual bits read into numbers, either using "bitWrite" or mask and shift operations.

  if(M1_EN==0)
    analogWrite(EN1,LOW);
  else
    analogWrite(EN1,M1_EN);

That's a bit verbose; lose the "if/else" and just write M1_EN to EN1.

#3

thankyou so much i didnt notice it !it works now I ll follow tour advice form now on when posting a code thank you again! its really reliving to know i can get online help as language barrier in beijing is way too intense for a student best regards, Biman

#4

I'm still concerned about the emptiness of "setup", particularly with respect to IN1 and IN2

#5

``im working on the setup, i ll look in to it but buddy there is another small problem when it comes to an intersection i tried to sole it by using this code 

[code]if(C_LT==LOW&&L_LT==HIGH&&R_LT==HIGH&&L1_LT==HIGH&&R1_LT==HIGH||L1_LT==LOW&& L_LT==HIGH&& C_LT==LOW&& R_LT==HIGH&&R1_LT==LOW)
        
        {
          
          Motor_Control(FORW,150,FORW,150);
          
        }

[/code] but it doesn't work can you help me figure it out if I name the sensors as 12345 well if high is 1 and low is 0 i programmed it like just before the intersection [11011] go forward or wehn passing the intersection [01010] forward i hope you get what i wrote thanks a bunch

#6

Did you read what I wrote about using "bitWrite" earlier?

Did you also read the bit about going back to your original post, clicking "modify" etc ?

#7

i did the modify part ,well bitWise means simplifying the code as the example you gave me right ?I'm new to arduino i ll try to rewrite the code according to your instructions thanks. did you get my problem in the last post

#8 
int readSense ()
{
  return digitalRead(DF_LT_r1) << 4 |
         digitalRead(DF_LT_r)  << 3 |
         digitalRead(DF_LT_c)  << 2 |
         digitalRead(DF_LT_l)  << 1 |
         digitalRead(DF_LT_l1);
}

(or possibly vice-versa)

i did the modify part

So why isn’t the code in your original post in a code box?

#9