From 52f2260c5375fdc7a2e99da68be85e7f24848bc0 Mon Sep 17 00:00:00 2001
From: Luca Tringali <tringalinvent@libero.it>
Date: Sat, 15 Feb 2020 23:22:04 +0100
Subject: Ultime lezioni

---
 7-robot-linefollowing.ino | 119 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 119 insertions(+)
 create mode 100644 7-robot-linefollowing.ino

(limited to '7-robot-linefollowing.ino')

diff --git a/7-robot-linefollowing.ino b/7-robot-linefollowing.ino
new file mode 100644
index 0000000..b655bf6
--- /dev/null
+++ b/7-robot-linefollowing.ino
@@ -0,0 +1,119 @@
+/*
+basato sul codice di esempio di Arvind Sanjeev per il set di sensori QTR-8A
+
+ */
+#include <Servo.h> 
+
+Servo left;
+Servo right; 
+
+int mid = 0;
+int mn = 1023;
+int mx = 0;
+
+void setup()
+{
+
+left.attach(9, 800, 2200); //left servo motor
+right.attach(10, 800, 2200); //right servo motor
+
+Serial.begin(9600);
+
+digitalWrite(13, LOW);
+
+right.write(90);//stop signal
+left.write(90);//stop signal
+
+for(int i=0; i<5000; i++)
+{
+digitalWrite(13, HIGH);
+
+for(int j=0; j<=5; j++)//Calibrating the sensor, finding max and 
+{                      //min reflectance values.
+int val = analogRead(j);
+if(val >= mx)
+mx = val;
+if(val <= mn)
+mn = val;
+}
+delay(1);
+}
+
+mid = ((mx + mn)/2);
+digitalWrite(13, LOW);
+
+right.write(90);
+left.write(90);
+}
+
+void loop()
+{
+
+int s0 = analogRead(0);//Signal pin 1 on the board
+int s1 = analogRead(1);//Signal pin 2 on the board
+int s2 = analogRead(2);//Signal pin 3 on the board
+int s3 = analogRead(3);//Signal pin 4 on the board
+int s4 = analogRead(4);//Signal pin 5 on the board
+int s5 = analogRead(5);//Signal pin 6 on the board
+
+
+Serial.print("Mid: ");
+Serial.print(mid); 
+Serial.print(" ");
+Serial.print(s0); 
+Serial.print(" ");
+Serial.print(s1); 
+Serial.print(" ");
+Serial.print(s2); 
+Serial.print(" ");
+Serial.print(s3); 
+Serial.print(" ");
+Serial.print(s4); 
+Serial.print(" ");
+Serial.print(s5); 
+Serial.print(" ");
+Serial.println();
+
+right.write(180);//Move forward
+left.write(0);//Move forward
+
+delay(1);
+
+int averageLeft = (s0+s1+s2)/3;
+int averageRight = (s3+s4+s5)/3;
+
+
+if(((averageLeft)>((averageRight)+240)))//Move right
+{
+right.write(130);//180
+left.write(90);//90
+Serial.print(" RIGHT");
+delay(abs((averageRight-(averageLeft))/2));
+}
+
+if(((averageLeft)<((averageRight)-240)))//Move left
+{
+right.write(90);//90
+left.write(40);//0
+Serial.print(" LEFT");
+delay(abs(((averageRight)-(averageLeft))/2));
+}
+
+if((s0 > mid)&&(s5 > mid))//Stop if all the sensors give low 
+{                         //reflectance values
+right.write(90);
+left.write(90);
+Serial.print(" STOP");
+
+for(int k=0; k<50; k++)
+{
+digitalWrite(13, HIGH);
+delay(100);
+digitalWrite(13, LOW);
+delay(100);
+}
+delay(5000);
+}
+
+
+}
-- 
cgit v1.1