아두이노 라인트레이서 완성!

 

 

짧은 영상이지만 라인트레이서는 완벽하게 잘 돌아갑니다!!! 라인트레이서 완성!

 

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코드 공개하였습니다. 도움이 되셨다면 댓글이나 남겨주세요! :)

//motor driver inputs
#define Left_Wheel_1        9//left motor
#define Left_Wheel_2        8
#define    Right_Wheel_1        2//right motor
#define Right_Wheel_2        3
 
//sensors
#define sensor_left        A0//leftmost
#define sensor_middle_left    A1//left of middle
#define sensor_middle_right    A2//right of middle
#define sensor_right        A3//rightmost
//#define traffic_lamp        A5  //traffic lamp
 
int a, b, c, d, e;
 
void setup()
{
    //Define motor pins as output to manage them.
    pinMode(Left_Wheel_1, OUTPUT);
    pinMode(Left_Wheel_2, OUTPUT);
    pinMode(Right_Wheel_1, OUTPUT);
    pinMode(Right_Wheel_2, OUTPUT);
    //Define sensor pins as input to get data from them.
 
    pinMode(sensor_left, INPUT);
    pinMode(sensor_middle_left, INPUT);
    pinMode(sensor_middle_right, INPUT);
    pinMode(sensor_right, INPUT);
    //pinMode(traffic_lamp, INPUT);
    Serial.begin(9600);
 
 
}
////////////////////////앞///////////////////////////
/////////////////////////////////////////////////////
////////  D  //////  C  //////  B  //////  A  ///////
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
//좌///  < 600 == WHITE  //  > 600 == BLACK   ///우//
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////////////////////////////////////////////
/////////////////////////뒤//////////////////////////
 
void loop() {
    //Read data coming from sensors as analog.
    a = analogRead(sensor_left);
    b = analogRead(sensor_middle_left);
    c = analogRead(sensor_middle_right);
    d = analogRead(sensor_right);
 
    //Go straight
    if ((b>600 && c>600) && a<600 && d<600)
    {
        Serial.println("Should go straight.");
        //Drive both motors
        digitalWrite(Left_Wheel_1, HIGH);
        digitalWrite(Left_Wheel_2, LOW);
        digitalWrite(Right_Wheel_1, HIGH);
        digitalWrite(Right_Wheel_2, LOW);
        delay(6);
        digitalWrite(Left_Wheel_1, 0);
        digitalWrite(Left_Wheel_2, 0);
        digitalWrite(Right_Wheel_1, 0);
        digitalWrite(Right_Wheel_2, 0);
        delay(6);
    }
    //Turn right completely
    if (a>600 && b<600 && c<600 && d<600)
    {
        Serial.println("Should turn right completely.");
        //Drive left motor, stop right motor.
        digitalWrite(Left_Wheel_1, HIGH);
        digitalWrite(Left_Wheel_2, LOW);
        digitalWrite(Right_Wheel_1, HIGH);
        digitalWrite(Right_Wheel_2, HIGH);
        delay(8);
        digitalWrite(Left_Wheel_1, 0);
        digitalWrite(Left_Wheel_2, 0);
        digitalWrite(Right_Wheel_1, 0);
        digitalWrite(Right_Wheel_2, 0);
        delay(8);
    }
    //Turn left completely
    if (d>600 && b<600 && c<600 && a<600)
    {
        Serial.println("Should turn left completely.");
        //Drive right motor, stop left motor.
        digitalWrite(Left_Wheel_1, HIGH);
        digitalWrite(Left_Wheel_2, HIGH);
        digitalWrite(Right_Wheel_1, HIGH);
        digitalWrite(Right_Wheel_2, LOW);
        delay(8);
        digitalWrite(Left_Wheel_1, 0);
        digitalWrite(Left_Wheel_2, 0);
        digitalWrite(Right_Wheel_1, 0);
        digitalWrite(Right_Wheel_2, 0);
        delay(8);
    }
    //Turn right slightly
    if (b>600 && a<600 && c<600 && d<600)
    {
        Serial.println("Should turn right slightly.");
        //Drive left motor, stop right motor.
        digitalWrite(Left_Wheel_1, HIGH);
        digitalWrite(Left_Wheel_2, LOW);
        digitalWrite(Right_Wheel_1, HIGH);
        digitalWrite(Right_Wheel_2, HIGH);
        delay(8);
        digitalWrite(Left_Wheel_1, 0);
        digitalWrite(Left_Wheel_2, 0);
        digitalWrite(Right_Wheel_1, 0);
        digitalWrite(Right_Wheel_2, 0);
        delay(8);
    }
    //Turn left slightly
    if (c>600 && a<600 && b<600 && d<600)
    {
        Serial.println("Should turn left slightly.");
        //Drive right motor, stop left motor.
        digitalWrite(Left_Wheel_1, HIGH);
        digitalWrite(Left_Wheel_2, HIGH);
        digitalWrite(Right_Wheel_1, HIGH);
        digitalWrite(Right_Wheel_2, LOW);
        delay(8);
        digitalWrite(Left_Wheel_1, 0);
        digitalWrite(Left_Wheel_2, 0);
        digitalWrite(Right_Wheel_1, 0);
        digitalWrite(Right_Wheel_2, 0);
        delay(8);
    }
    //Stop, line ended.
    if (a<600 && b<600 && c<600 && d<600)
    {
        Serial.println("Should stop.");
        //Stop both motors.
        digitalWrite(Left_Wheel_1, HIGH);
        digitalWrite(Left_Wheel_2, HIGH);
        digitalWrite(Right_Wheel_1, HIGH);
        digitalWrite(Right_Wheel_2, HIGH);
        delay(8);
        digitalWrite(Left_Wheel_1, 0);
        digitalWrite(Left_Wheel_2, 0);
        digitalWrite(Right_Wheel_1, 0);
        digitalWrite(Right_Wheel_2, 0);
        delay(8);
    }
}