循線自走車

https://www.instructables.com/id/Line-Follower-Robot-Using-Arduino-2/





  ////////////////////////////////////////////////////////
  //                LinoBot v1.0                        //           
 //               By Aarav Garg                        //
////////////////////////////////////////////////////////

//I have added the possibilities of testing
//The values of analogRead could be changed for trouble shooting

//including the libraries
#include <AFMotor.h>

//defining pins and variables
#define lefts A4
#define rights A5

//defining motors
AF_DCMotor motor1(4, MOTOR12_8KHZ);
AF_DCMotor motor2(3, MOTOR12_8KHZ);
/*
AF_DCMotor motor1(3, MOTOR12_8KHZ);
AF_DCMotor motor2(4, MOTOR12_8KHZ);
 */

void setup() {
  //setting the speed of motors
  motor1.setSpeed(200);
  motor2.setSpeed(200);
  //declaring pin types
  pinMode(lefts,INPUT);
  pinMode(rights,INPUT);
  //begin serial communication
  Serial.begin(9600);

}

void loop(){
  //printing values of the sensors to the serial monitor
  Serial.println(analogRead(lefts));
  Serial.println(analogRead(rights));
  //line detected by both
  if(analogRead(lefts)<=400 && analogRead(rights)<=400){
    //stop
    motor1.run(RELEASE);
    motor2.run(RELEASE);
  }
  //line detected by left sensor
  else if(analogRead(lefts)<=400 && !analogRead(rights)<=400){
    //turn left
    motor1.run(BACKWARD);
    motor2.run(FORWARD);
    /*
    motor1.run(RELEASE);
    motor2.run(FORWARD);
     */
  }
  //line detected by right sensor
  else if(!analogRead(lefts)<=400 && analogRead(rights)<=400){
    //turn right
    motor1.run(FORWARD);
    motor2.run(BACKWARD);
    /*
    motor1.run(FORWARD);
    motor2.run(RELEASE);
     */
  }
  //line detected by none
  else if(!analogRead(lefts)<=400 && !analogRead(rights)<=400){
    //stop
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    /*
    motor1.run(BACKWARD);
    motor2.run(BACKWARD);
     */
  }

}