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Robocode

The document describes code for an Arduino robot that can follow a line or record a path. It defines motor controls and infrared sensor pins. The robot uses a state machine to drive straight, turn left/right, or reverse based on sensor readings. When recording a path, it stores left/right sensor transitions in an array. It then follows or records the line based on current sensor values.

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Kanishka Yadav
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26 views

Robocode

The document describes code for an Arduino robot that can follow a line or record a path. It defines motor controls and infrared sensor pins. The robot uses a state machine to drive straight, turn left/right, or reverse based on sensor readings. When recording a path, it stores left/right sensor transitions in an array. It then follows or records the line based on current sensor values.

Uploaded by

Kanishka Yadav
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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// BASIC CODE ..............................................

FIRST
TRY THIS ONE AT 1
#define IR_SENSOR_RIGHT 11
#define IR_SENSOR_LEFT 12
#define MOTOR_SPEED 180

int enableRightMotor = 6;
int rightMotorPin1 = 7;
int rightMotorPin2 = 8;

int enableLeftMotor = 5;
int leftMotorPin1 = 9;
int leftMotorPin2 = 10;

// Define states for the robot


enum RobotState {
STRAIGHT,
TURN_LEFT,
TURN_RIGHT,
REVERSE
};

RobotState robotState = STRAIGHT;


unsigned long lastStateChangeTime = 0;
unsigned long turnDuration = 1000; // Adjust as needed for your robot

void setup() {
// Change the PWM frequency
TCCR0B = TCCR0B & B11111000 | B00000010;

// Set up pins
pinMode(enableRightMotor, OUTPUT);
pinMode(rightMotorPin1, OUTPUT);
pinMode(rightMotorPin2, OUTPUT);

pinMode(enableLeftMotor, OUTPUT);
pinMode(leftMotorPin1, OUTPUT);
pinMode(leftMotorPin2, OUTPUT);

pinMode(IR_SENSOR_RIGHT, INPUT);
pinMode(IR_SENSOR_LEFT, INPUT);
rotateMotor(0, 0);
}

void loop() {
int rightIRSensorValue = digitalRead(IR_SENSOR_RIGHT);
int leftIRSensorValue = digitalRead(IR_SENSOR_LEFT);
unsigned long currentTime = millis();

// Implement the state machine


switch (robotState) {
case STRAIGHT:
if (rightIRSensorValue == HIGH && leftIRSensorValue == HIGH) {
rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
} else if (rightIRSensorValue == LOW && leftIRSensorValue == HIGH) {
robotState = TURN_RIGHT;
lastStateChangeTime = currentTime;
} else if (rightIRSensorValue == HIGH && leftIRSensorValue == LOW) {
robotState = TURN_LEFT;
lastStateChangeTime = currentTime;
} else {
robotState = REVERSE;
lastStateChangeTime = currentTime;
}
break;

case TURN_RIGHT:
rotateMotor(MOTOR_SPEED, -MOTOR_SPEED);

// Check if it's time to transition back to STRAIGHT


if (currentTime - lastStateChangeTime >= turnDuration) {
robotState = STRAIGHT;
}
break;

case TURN_LEFT:
rotateMotor(-MOTOR_SPEED, MOTOR_SPEED);

// Check if it's time to transition back to STRAIGHT


if (currentTime - lastStateChangeTime >= turnDuration) {
robotState = STRAIGHT;
}
break;

case REVERSE:
rotateMotor(-MOTOR_SPEED, -MOTOR_SPEED);

// Check if it's time to transition back to STRAIGHT


if (currentTime - lastStateChangeTime >= turnDuration) {
robotState = STRAIGHT;
}
break;
}
}

void rotateMotor(int rightMotorSpeed, int leftMotorSpeed) {


// Motor control logic
if (rightMotorSpeed < 0) {
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, HIGH);
} else if (rightMotorSpeed > 0) {
digitalWrite(rightMotorPin1, HIGH);
digitalWrite(rightMotorPin2, LOW);
} else {
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, LOW);
}

if (leftMotorSpeed < 0) {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, HIGH);
} else if (leftMotorSpeed > 0) {
digitalWrite(leftMotorPin1, HIGH);
digitalWrite(leftMotorPin2, LOW);
} else {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, LOW);
}
analogWrite(enableRightMotor, abs(rightMotorSpeed));
analogWrite(enableLeftMotor, abs(leftMotorSpeed));
}

// TO RECORD PATH FOLLOW


LINE ...................................................... TRY IF ABOVE WORKS 2
#define IR_SENSOR_LEFT 11
#define IR_SENSOR_RIGHT 12
#define MOTOR_SPEED 180

int irSensorLeftState = LOW;


int irSensorRightState = LOW;
int recordedPath[100]; // Array to store the recorded path
int pathIndex = 0;

int enableRightMotor = 6;
int rightMotorPin1 = 7;
int rightMotorPin2 = 8;

int enableLeftMotor = 5;
int leftMotorPin1 = 9;
int leftMotorPin2 = 10;

void setup() {
pinMode(IR_SENSOR_LEFT, INPUT);
pinMode(IR_SENSOR_RIGHT, INPUT);
pinMode(enableRightMotor, OUTPUT);
pinMode(rightMotorPin1, OUTPUT);
pinMode(rightMotorPin2, OUTPUT);
pinMode(enableLeftMotor, OUTPUT);
pinMode(leftMotorPin1, OUTPUT);
pinMode(leftMotorPin2, OUTPUT);
Serial.begin(9600);
}

void loop() {
irSensorLeftState = digitalRead(IR_SENSOR_LEFT);
irSensorRightState = digitalRead(IR_SENSOR_RIGHT);

// Detect a transition in either sensor


if (irSensorLeftState != irSensorRightState) {
// Record the transition (1 for left sensor, 2 for right sensor)
recordedPath[pathIndex] = irSensorLeftState == LOW ? 1 : 2;
pathIndex++;
}

// Line following based on sensor readings


if (irSensorLeftState == HIGH && irSensorRightState == HIGH) {
// Both sensors detect the white path, go straight
rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
} else if (irSensorLeftState == LOW && irSensorRightState == HIGH) {
// Right sensor detects the white path, turn right
rotateMotor(-MOTOR_SPEED, MOTOR_SPEED);
} else if (irSensorLeftState == HIGH && irSensorRightState == LOW) {
// Left sensor detects the white path, turn left
rotateMotor(MOTOR_SPEED, -MOTOR_SPEED);
} else {
// Both sensors detect the black background, stop
rotateMotor(0, 0);
}

// Print the recorded path for debugging


Serial.print("Recorded Path: ");
for (int i = 0; i < pathIndex; i++) {
Serial.print(recordedPath[i]);
}
Serial.println();

// You may want to add some delay here to control the recording rate
delay(100);
}

void rotateMotor(int rightMotorSpeed, int leftMotorSpeed) {


// Motor control logic
if (rightMotorSpeed < 0) {
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, HIGH);
} else if (rightMotorSpeed > 0) {
digitalWrite(rightMotorPin1, HIGH);
digitalWrite(rightMotorPin2, LOW);
} else {
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, LOW);
}

if (leftMotorSpeed < 0) {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, HIGH);
} else if (leftMotorSpeed > 0) {
digitalWrite(leftMotorPin1, HIGH);
digitalWrite(leftMotorPin2, LOW);
} else {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, LOW);
}

analogWrite(enableRightMotor, abs(rightMotorSpeed));
analogWrite(enableLeftMotor, abs(leftMotorSpeed));
}

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