Line sensor code does not work

Using Arduino Programming Questions
#1

So I am making a bot that has a line sensor and an ultrasonic sensor.

#include <NewPing.h>
  #include "CytronMotorDriver.h"

  #define LINE_L1  8
  #define LINE_L2  7
  #define LINE_L3  6
  #define LINE_L4  5
  #define LINE_L5  4
  #define TRIGGER_PIN 2
  #define ECHO_PIN 3

  CytronMD motorL(PWM_PWM, 11, 12);  //full RPM is 193
  CytronMD motorR(PWM_PWM, 9, 10);   //full RPM is 200     
   
  NewPing sonar(TRIGGER_PIN, ECHO_PIN);

void setup() 
{ 
  Serial.begin(9600);
  pinMode(LINE_L1, INPUT);
  pinMode(LINE_L2, INPUT);
  pinMode(LINE_L3, INPUT);
  pinMode(LINE_L4, INPUT);
  pinMode(LINE_L5, INPUT);        
  pinMode(2,INPUT_PULLUP);
  while(digitalRead(2)==HIGH); 
  while(digitalRead(2)==LOW); 
  delay (500);
}

void loop() 
{
   int L1 = digitalRead(LINE_L1);
   int L2 = digitalRead(LINE_L2);
   int L3 = digitalRead(LINE_L3);
   int L4 = digitalRead(LINE_L4);
   int L5 = digitalRead(LINE_L5);
   delay(50);
   unsigned int distance = sonar.ping_cm();
   Serial.print(distance);
   Serial.println("cm");
  
  
  if (L1==1 || L2==1 || L3==1 || L4==1 || L5==1)
  {
    if (L1==0 && L2==0 && L3==1 && L4==0 && L5==0) {           //line sensor part
      motorL.setSpeed(193);   
      motorR.setSpeed(200);    //robot move forward
    }
      else if (L1==0 && L2==1 && L3==1 && L4==0 && L5==0) {
      motorL.setSpeed(160);   
      motorR.setSpeed(200);    //robot move slightly left
    }
      else if (L1==0 && L2==1 && L3==0 && L4==0 && L5==0) {
      motorL.setSpeed(160);   
      motorR.setSpeed(200);    //robot move slightly left
    }
      else if (L1==1 && L2==1 && L3==0 && L4==0 && L5==0) {
      motorL.setSpeed(60);   
      motorR.setSpeed(200);    //robot slowing down, move more to left
    }
      else if (L1==1 && L2==0 && L3==0 && L4==0 && L5==0) {
      motorL.setSpeed(0);   
      motorR.setSpeed(200);     //robot slowing down, move more to left
    }
     else if (L1==0 && L2==0 && L3==1 && L4==1 && L5==0) {
      motorL.setSpeed(193);   
      motorR.setSpeed(160);     //robot move slightly right
    }
    else if (L1==0 && L2==0 && L3==0 && L4==1 && L5==0) {
      motorL.setSpeed(193);   
      motorR.setSpeed(160);    //robot move slightly right
    }
    else if (L1==0 && L2==0 && L3==0 && L4==1 && L5==1) {
      motorL.setSpeed(193);   
      motorR.setSpeed(90);    //robot slowing down, move more to right
    }
    else if (L1==0 && L2==0 && L3==0 && L4==0 && L5==1) {
      motorL.setSpeed(100);   
      motorR.setSpeed(0);     //robot slowing down, move more to right
    }
    else {
    }
  }
  else
  {
    if (distance > 20)            //ultrasonic sensor part
    {
      motorL.setSpeed(193);
      motorR.setSpeed(200);                                                      
    }
    else 
    {
      motorL.setSpeed(-193);                  
      motorR.setSpeed(200);   //turn left
      delay(300);
      motorL.setSpeed(0);
      motorR.setSpeed(0);
      delay(1000);
      motorL.setSpeed(193);
      motorR.setSpeed(200);   //go straight
      delay(1000);
      motorL.setSpeed(0);
      motorR.setSpeed(0);
      delay(1000);
      motorL.setSpeed(193);
      motorR.setSpeed(-200);   //turn right
      delay(340);
      motorL.setSpeed(0);
      motorR.setSpeed(0);
      delay(1000);
    }  
  }
}

This is the code that is not working as I intended, specifically the line sensor part.^^^^

#include "CytronMotorDriver.h" 

#define LINE_D1   8
#define LINE_D2   7
#define LINE_D3   6
#define LINE_D4   5
#define LINE_D5   4
  
// Configure the motor driver.
CytronMD motorL(PWM_PWM, 11, 12);   // motor 1 = Left motor, M1A = Pin 3, M1B = Pin 9
CytronMD motorR(PWM_PWM, 9, 10); // motor 2= right motor, M2A = Pin 10, M2B = Pin 11

void setup() {
pinMode(LINE_D1, INPUT);
pinMode(LINE_D2, INPUT);
pinMode(LINE_D3, INPUT);
pinMode(LINE_D4, INPUT);
pinMode(LINE_D5, INPUT);
pinMode(2,INPUT_PULLUP);   
while(digitalRead(2)==HIGH); 
while(digitalRead(2)==LOW); 
}

void loop() {
  // Perform line following
  int D1 = digitalRead(LINE_D1);
  int D2 = digitalRead(LINE_D2);
  int D3 = digitalRead(LINE_D3);
  int D4 = digitalRead(LINE_D4);
  int D5 = digitalRead(LINE_D5);

  if (D1==0 && D2==0 && D3==1 && D4==0 && D5==0) {
    motorL.setSpeed(193);   
    motorR.setSpeed(200);    //robot move forward
  }
   else if (D1==0 && D2==1 && D3==1 && D4==0 && D5==0) {
    motorL.setSpeed(160);   
    motorR.setSpeed(200);    //robot move slightly left
  }
  else if (D1==0 && D2==1 && D3==0 && D4==0 && D5==0) {
    motorL.setSpeed(160);   
    motorR.setSpeed(200);    //robot move slightly left
  }
else if (D1==1 && D2==1 && D3==0 && D4==0 && D5==0) {
    motorL.setSpeed(60);   
    motorR.setSpeed(200);    //robot slowing down, move more to left
  }
else if (D1==1 && D2==0 && D3==0 && D4==0 && D5==0) {
    motorL.setSpeed(0);   
    motorR.setSpeed(200);     //robot slowing down, move more to left
  }
   else if (D1==0 && D2==0 && D3==1 && D4==1 && D5==0) {
    motorL.setSpeed(193);   
    motorR.setSpeed(160);     //robot move slightly right
  }
  else if (D1==0 && D2==0 && D3==0 && D4==1 && D5==0) {
    motorL.setSpeed(193);   
    motorR.setSpeed(160);    //robot move slightly right
  }
  else if (D1==0 && D2==0 && D3==0 && D4==1 && D5==1) {
    motorL.setSpeed(193);   
    motorR.setSpeed(90);    //robot slowing down, move more to right
  }
  else if (D1==0 && D2==0 && D3==0 && D4==0 && D5==1) {
    motorL.setSpeed(100);   
    motorR.setSpeed(0);     //robot slowing down, move more to right
  }
  else {
  }
}

This is the code I wrote prior adding it to the first code, this code works when i upload it onto the board. But when I integrate it into the first code as the line sensor code, it just partially works. I mean by it can detect the line alright and follow it, but when the line turns like, to the right. It just stopped working, like it stop in its tracks. What is the problem? Thanks in advance.

I am using an Arduino Uno, a maker line sensor from seeed, a HC-SR04 ultrasonic sensor, and a seeed maker motor driver.

#2

I would start by giving the line sensor pins and sensor state variables, if that is what they are, more descriptive names then changing the test values from 0/1 to LOW/HIGH as it makes more sense

Then print the values of the sensor values before you test them. Are they what you expect ? If so then move on to confirm that the actions taken as a result of the values are correct for the values read

Exactly which sensor are you using to detect the lines ?

#3

This is the sensor that i use.

#4

Thank you

Have you tried printing the sensor values as suggested ?

#5

Yes I did but its the same, I think its a problem with the first if statement, cause the board will recieve 3 sensors states to be high at a turn, so i think its a logic problem.

#6

es I did but its the same

Printing the values will not alter the behaviour of the sketch but it will show whether the values are as expected

Print a message inside each if/else conditional block so that you know which code portion is being executed. Test that the code in each of the blocks actually does what the comment says

#7

Will try and reply again if its working or not

#8

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