Why is my line 4 sensor code not working?

Using Arduino Programming Questions
1 
#include <AFMotor.h>

#define cambien1 A2  
#define cambien2 A3  
#define cambien3 A4  
#define cambien4 A5  

AF_DCMotor motorleft1(1, MOTOR12_1KHZ);
AF_DCMotor motorleft2(4, MOTOR12_1KHZ);
AF_DCMotor motorright1(2, MOTOR34_1KHZ);
AF_DCMotor motorright2(3, MOTOR34_1KHZ);


int crossCount = 0;

void moveForward();
void turnRight();
void turnHardRight();
void turnHardLeft();
void turnMediumLeft();
void turnSlightLeft();
void turnSlightRight();
void turnMediumRight();
void stopMoving();
void run_line();

void setup() {
  pinMode(cambien1, INPUT);
  pinMode(cambien2, INPUT);
  pinMode(cambien3, INPUT);
  pinMode(cambien4, INPUT);
  Serial.begin(9600);  
}

void loop() {
  run_line();
}

void run_line() {
  int leftOuter = analogRead(cambien1) > 200 ? 1 : 0;
  int leftInner = analogRead(cambien2) > 200 ? 1 : 0;
  int rightInner = analogRead(cambien3) > 200 ? 1 : 0;
  int rightOuter = analogRead(cambien4) > 200 ? 1 : 0;

  if (leftOuter == 0 && leftInner == 1 && rightInner == 1 && rightOuter == 1) {
    crossCount++;
    if (crossCount = 1) {
      moveForward();
      delay(1000);
    } else if (crossCount = 2) {
      moveForward();
      delay(1000);
    } if (crossCount = 3) {
      moveForward();
      delay(1000);
    } else if (crossCount = 4) {
      turnHardRight();
      delay(2000);
    } else if (crossCount = 5) {
      turnHardRight();
      delay(2000);
    }
    
  } else if (leftOuter == 0 && leftInner == 1 && rightInner == 1 && rightOuter == 0) {
    moveForward();
    delay(1000);

  } else if (leftOuter == 1 && leftInner == 0 && rightInner == 0 && rightOuter == 0) {
    turnMediumLeft();
    delay(1000);
  } else if (leftOuter == 1 && leftInner == 1 && rightInner == 0 && rightOuter == 0) {
    turnSlightLeft();
    delay(1000);
  } else if (leftOuter == 1 && leftInner == 1 && rightInner == 1 && rightOuter == 0) {
    turnHardLeft();
    delay(2000);
  } else if (leftOuter == 1 && leftInner == 1 && rightInner == 1 && rightOuter == 1) {
    turnHardLeft();
    delay(2000);
  
  } else if (leftOuter == 0 && leftInner == 0 && rightInner == 1 && rightOuter == 1) {
    turnSlightRight();
    delay(500);
  } else if (leftOuter == 0 && leftInner == 0 && rightInner == 0 && rightOuter == 1) {
    turnMediumRight();
    delay(500);
  
  } else if (leftOuter == 1 && leftInner == 0 && rightInner == 1 && rightOuter == 1) {
    turnSlightLeft();

  } else if (leftOuter == 1 && leftInner == 1 && rightInner == 0 && rightOuter == 1) {
    turnSlightRight();  
    stopMoving();
  } else {
      moveForward();
  }
}

void moveForward() {
  motorleft1.setSpeed(150);
  motorleft2.setSpeed(150);
  motorright1.setSpeed(150);
  motorright2.setSpeed(150);

  motorleft1.run(FORWARD);
  motorleft2.run(FORWARD);
  motorright1.run(FORWARD);
  motorright2.run(FORWARD);
}

void turnHardRight() {
  motorleft1.setSpeed(200);
  motorleft2.setSpeed(0);
  motorright1.setSpeed(0);
  motorright2.setSpeed(0);

  motorleft1.run(FORWARD);
  motorleft2.run(RELEASE);
  motorright1.run(RELEASE);
  motorright2.run(RELEASE);
}

void turnHardLeft() {
  motorleft1.setSpeed(0);
  motorleft2.setSpeed(0);
  motorright1.setSpeed(200);
  motorright2.setSpeed(0);

  motorleft1.run(RELEASE);
  motorleft2.run(RELEASE);
  motorright1.run(FORWARD);
  motorright2.run(RELEASE);
}

void turnMediumLeft() {
  motorleft1.setSpeed(100);
  motorleft2.setSpeed(100);
  motorright1.setSpeed(50);
  motorright2.setSpeed(50);

  motorleft1.run(FORWARD);
  motorleft2.run(FORWARD);
  motorright1.run(FORWARD);
  motorright2.run(FORWARD);
}

void turnSlightLeft() {
  motorleft1.setSpeed(100);
  motorleft2.setSpeed(100);
  motorright1.setSpeed(80);
  motorright2.setSpeed(80);

  motorleft1.run(FORWARD);
  motorleft2.run(FORWARD);
  motorright1.run(FORWARD);
  motorright2.run(FORWARD);
}

void turnSlightRight() {
  motorleft1.setSpeed(80);
  motorleft2.setSpeed(80);
  motorright1.setSpeed(100);
  motorright2.setSpeed(100);

  motorleft1.run(FORWARD);
  motorleft2.run(FORWARD);
  motorright1.run(FORWARD);
  motorright2.run(FORWARD);
}

void turnMediumRight() {
  motorleft1.setSpeed(50);
  motorleft2.setSpeed(50);
  motorright1.setSpeed(100);
  motorright2.setSpeed(100);

  motorleft1.run(FORWARD);
  motorleft2.run(FORWARD);
  motorright1.run(FORWARD);
  motorright2.run(FORWARD);
}

void stopMoving()
{
  motorleft1.setSpeed(0);
  motorleft2.setSpeed(0);
  motorright1.setSpeed(0);
  motorright2.setSpeed(0);

  motorleft1.run(RELEASE);
  motorleft2.run(RELEASE);
  motorright1.run(RELEASE);
  motorright2.run(RELEASE);
}
2

Welcome to the forum

if (crossCount = 1)

= to set a variable to a value
== to compare values

Do you see the problem ?

3

all if are set value not compare.

4

Why did you assign motors 1 and 4 to MOTOR12 and motors 2 and 3 to MOTOR34?

1 Like
5

????

IF statements are for making comparisons, which means using the comparison (is equals to?) '==' symbol rather than the assign value (make equal to) symbol '=' . You also seem to have a missing 'else' in the third 'if' statement.

6

@BitSeeker
This code not is mine. Its OP code.

7

Hi, @2harry-potter_23
Welcome to the forum.

Thanks for using code tags. :+1:

This will help with your if statement.
https://docs.arduino.cc/language-reference/en/structure/control-structure/if/

Tom.. :smiley: :+1: :coffee: :australia: