Posted this on Reddit, but was completely ignored.
Hi guys, I've been struggling the past few weeks with my school projects. Especially with line followers. The project I'm currently working on is a line follower with a Sharp 2Y0A21 IR sensor. The purpose of the project is to well, make a car that follows a black line and stops when it 'sees' an obstacle in front.
The first problem is that it doesn't actually follows the black line, it just turns around in the same place, to the same side (sometimes left, sometimes right).
The other is that the IR sensor seems to do nothing and now I doubt that it is properly connected.
To be honest, I have little to no idea about what I'm doing. For all projects our teacher just gives us the code and some instructions on how to assemble the circuits but lately they've been a bit, um, deficient.
Anyways, I made this crappy wiring diagram and I will include the code too to try to make easier to identify any flaws.
Code:
#include "AFMotor.h"
#define SensorOne 10
#define SensorTwo 9
AF_DCMotor MotorOne(3);
AF_DCMotor MotorTwo(1);
byte LsensorO;
byte LsensorT;
int ir_sensor = A0;
float read;
int cm;
void setup() {
Serial.begin(9600);
pinMode(SensorOne, INPUT);
pinMode(SensorTwo, INPUT);
}
void loop() {
LsensorO = digitalRead(SensorOne);
LsensorT = digitalRead(SensorTwo);
read=analogRead(ir_sensor);
cm=pow(3927.4/read,1.2134);
Serial.println(cm);
delay(2000);
if(cm>=7 && cm<=12){
Stop();
}
else{
if (LsensorO == 0 && LsensorT == 0) {
Advance();
}
if (LsensorO == 1 && LsensorT == 0) {
Right();
}
if (LsensorO == 0 && LsensorT == 1) {
Left();
}
}
}
void Stop() {
MotorOne.setSpeed(BRAKE);
MotorTwo.setSpeed(BRAKE);
MotorOne.run
(RELEASE);
MotorTwo.run
(RELEASE);
}
void Advance() {
MotorOne.setSpeed(200);
MotorTwo.setSpeed(200);
MotorOne.run
(FORWARD);
MotorTwo.run
(FORWARD);
}
void Left() {
MotorOne.setSpeed(100);
MotorTwo.setSpeed(100);
MotorOne.run
(BACKWARD);
MotorTwo.run
(FORWARD);
}
void Right() {
MotorOne.setSpeed(100);
MotorTwo.setSpeed(100);
MotorOne.run
(FORWARD);
MotorTwo.run
(BACKWARD);
}
