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This document defines pin assignments and functions to control a robot with two motors and two infrared sensors. It declares pins for connecting the infrared sensors and motors to an Arduino board. In setup, the pins are configured as inputs or outputs and motor speeds are set. The main loop reads the sensors and calls functions to move forward, turn right, turn left, or stop based on the sensor values. Those movement functions set the motor pin states appropriately.

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haritha gaddam
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22 views

Code

This document defines pin assignments and functions to control a robot with two motors and two infrared sensors. It declares pins for connecting the infrared sensors and motors to an Arduino board. In setup, the pins are configured as inputs or outputs and motor speeds are set. The main loop reads the sensors and calls functions to move forward, turn right, turn left, or stop based on the sensor values. Those movement functions set the motor pin states appropriately.

Uploaded by

haritha gaddam
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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#define enA 10//Enable1 L298 Pin enA

#define in1 9 //Motor1 L298 Pin in1


#define in2 8 //Motor1 L298 Pin in1
#define in3 7 //Motor2 L298 Pin in1
#define in4 6 //Motor2 L298 Pin in1
#define enB 5 //Enable2 L298 Pin enB

#define R_S A0 //ir sensor Right


#define L_S A1 //ir sensor Left

void setup(){ // put your setup code here, to run once

pinMode(R_S, INPUT); // declare if sensor as input


pinMode(L_S, INPUT); // declare ir sensor as input

pinMode(enA, OUTPUT); // declare as output for L298 Pin enA


pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB

analogWrite(enA, 300); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed
analogWrite(enB, 300); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed
delay(1000);
}
void loop(){
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){forword();} //if Right Sensor and Left
Sensor are at White color then it will call forword function

if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();} //if Right Sensor is Black


and Left Sensor is White then it will call turn Right function

if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();} //if Right Sensor is White


and Left Sensor is Black then it will call turn Left function

if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 1)){Stop();} //if Right Sensor and Left


Sensor are at Black color then it will call Stop function
}

void forword(){ //forword


digitalWrite(in1, HIGH); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, HIGH); //Left Motor forword Pin
}

void turnRight(){ //turnRight


digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, HIGH); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, HIGH); //Left Motor forword Pin
}

void turnLeft(){ //turnLeft


digitalWrite(in1, HIGH); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, HIGH); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin
}

void Stop(){ //stop


digitalWrite(in1, LOW); //Right Motor forword Pin
digitalWrite(in2, LOW); //Right Motor backword Pin
digitalWrite(in3, LOW); //Left Motor backword Pin
digitalWrite(in4, LOW); //Left Motor forword Pin 
}

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