קוד רובוט עוקב קו

#include <SoftwareSerial.h>

#define irSensor A0

int sensorValue;

void setup() {

  Serial.begin(115200);

  pinMode(irSensor, INPUT);

}

void loop() {

  sensorValue = analogRead(irSensor);

  Serial.println(sensorValue);

  delay(100);

}

#define motor1 4

#define MOTOR_RIGHT 5

#define MOTOR_LEFT 6

#define motor4 7

#define TRIGGER_PIN 8

#define ECHO_PIN 9

#define BUZZER_PIN 11

int distance;

int SPEED_TURN = 220;

int SPEED_FORWARD = 255;

#define SENSOR_PIN A0

int sensorValue;

int whiteReading, blackReading;

void setup() {

  Serial.begin(115200);

  pinMode(MOTOR_RIGHT, OUTPUT);

  pinMode(MOTOR_LEFT, OUTPUT);

  pinMode(TRIGGER_PIN, OUTPUT);

  pinMode(ECHO_PIN, INPUT);

  pinMode(BUZZER_PIN, OUTPUT);

  // testDrive();

  Serial.println("Begin....");

  beep();

  beep();

}  //   void setup() {

void loop() {

  sensorValue = analogRead(SENSOR_PIN);

  // Serial.println(sensorValue);

  printIRValues();

  if (sensorValue > 600) Right(SPEED_TURN);

  else if (sensorValue < 200) Left(SPEED_TURN);

  else Forward(SPEED_FORWARD);

  distance = measureShortDistance();

  if (distance > 0 && distance <40 ) {

    Stop();

    beep();beep();beep();

    Serial.print("Distance: ");

    Serial.print(distance);

    Serial.println(" cm");

  }

}  //   end void loop() {

void beep() {

  digitalWrite(BUZZER_PIN, HIGH);

  delay(100);

  digitalWrite(BUZZER_PIN, LOW);

  delay(100);

}

int measureShortDistance() {

  digitalWrite(TRIGGER_PIN, LOW);

  delayMicroseconds(2);

  digitalWrite(TRIGGER_PIN, HIGH);

  delayMicroseconds(10);  // מספיק קצר ומהיר

  digitalWrite(TRIGGER_PIN, LOW);

  long duration = pulseIn(ECHO_PIN, HIGH, 10000);  // מקסימום המתנה של 10ms = עד 170 ס"מ בערך

  long distanceCm = duration * 0.034 / 2;          // חישוב מרחק בס"מ

  if (distanceCm == 0 || distanceCm > 80) return -1;  // מחוץ לטווח הרצוי או אין קריאה

  return distanceCm;

}

void printIRValues() {

  // Serial.print("White reading: ");

  Serial.print(whiteReading);

  // Serial.print("  |  Current reading: ");

  Serial.print(" <<< ");

  Serial.print(sensorValue);

  // Serial.print("  |  Black reading: ");

  Serial.print(" <<< ");

  Serial.print(blackReading);

  Serial.println();

}

void Stop() {

  analogWrite(motor1, 0);

  analogWrite(MOTOR_RIGHT, 0);

  analogWrite(MOTOR_LEFT, 0);

  analogWrite(motor4, 0);

}

void Forward(int speedINT) {

  analogWrite(MOTOR_RIGHT, speedINT);

  analogWrite(MOTOR_LEFT, speedINT);

}

void Right(int speedINT) {

  analogWrite(MOTOR_RIGHT, 0);

  analogWrite(MOTOR_LEFT, speedINT);

}

void Left(int speedINT) {

  analogWrite(MOTOR_RIGHT, speedINT);

  analogWrite(MOTOR_LEFT, 0);

}

void Backward(int speedINT) {

  analogWrite(MOTOR_RIGHT, speedINT);

  analogWrite(MOTOR_LEFT, speedINT);

}

void ForwardLeft(int speedINT) {

  analogWrite(motor1, speedINT / 2);

  analogWrite(motor4, speedINT);

}

void ForwardRight(int speedINT) {

  analogWrite(motor1, speedINT);

  analogWrite(motor4, speedINT / 2);

}

void BackwardLeft(int speedINT) {

  analogWrite(MOTOR_RIGHT, speedINT / 2);

  analogWrite(MOTOR_LEFT, speedINT);

}

void BackwardRight(int speedINT) {

  analogWrite(MOTOR_RIGHT, speedINT);

  analogWrite(MOTOR_LEFT, speedINT / 2);

}

void testDrive() {

  int delayTime = 1000;

  // Stop();

  // delay(100);

  Forward(SPEED_FORWARD);

  delay(delayTime);

  // Stop();

  // delay(500);

  Right(SPEED_FORWARD);

  delay(delayTime);

  // Stop();

  // delay(500);

  Left(SPEED_FORWARD);

  delay(delayTime);

}

void checkSpeed() {

  analogWrite(motor1, SPEED_TURN);

  analogWrite(motor4, SPEED_TURN);

  delay(2000);

  analogWrite(motor1, 0);

  analogWrite(motor4, 0);

  delay(1000);

  analogWrite(MOTOR_RIGHT, SPEED_TURN);

  analogWrite(MOTOR_LEFT, SPEED_TURN);

  delay(2000);

  analogWrite(MOTOR_RIGHT, 0);

  analogWrite(MOTOR_LEFT, 0);

  delay(1000);

  analogWrite(motor1, SPEED_FORWARD);

  analogWrite(motor4, SPEED_FORWARD);

  delay(100);

  analogWrite(motor1, 0);

  analogWrite(motor4, 0);

  delay(500);

  analogWrite(motor1, SPEED_FORWARD);

  analogWrite(motor4, SPEED_FORWARD);

  delay(100);

  analogWrite(motor1, 0);

  analogWrite(motor4, 0);

  delay(500);

  analogWrite(motor1, SPEED_FORWARD);

  analogWrite(motor4, SPEED_FORWARD);

  delay(100);

  analogWrite(motor1, 0);

  analogWrite(motor4, 0);

  delay(500);

  analogWrite(MOTOR_RIGHT, SPEED_FORWARD);

  analogWrite(MOTOR_LEFT, SPEED_FORWARD);

  delay(500);

  analogWrite(MOTOR_RIGHT, 0);

  analogWrite(MOTOR_LEFT, 0);

  delay(1000);

}