LineFollower/LineFollowerRobot at main · hrish7kesh/LineFollower · GitHub

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// Arduino Line Follower Robot Code


#define enA 5//Enable1 L293 Pin enA

#define in1 7 //Motor1  L293 Pin in1

#define in2 6 //Motor1  L293 Pin in1

#define in3 10 //Motor2  L293 Pin in1

#define in4 9 //Motor2  L293 Pin in1

#define enB 11 //Enable2 L293 Pin enB

#define R_S 4//ir sensor Right

#define L_S 2 //ir sensor Left

void setup(){

pinMode(R_S, INPUT);

pinMode(L_S, INPUT);

pinMode(enA, OUTPUT);

pinMode(in1, OUTPUT);

pinMode(in2, OUTPUT);

pinMode(in3, OUTPUT);

pinMode(in4, OUTPUT);

pinMode(enB, OUTPUT);

analogWrite(enA, 50);

analogWrite(enB, 60);

delay(1000);

}

void loop(){

if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){forward();}   //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 forward(){  //forword

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 turnRight(){ //turnRight

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 turnLeft(){ //turnLeft

digitalWrite(in1, LOW); //Right Motor forword Pin

digitalWrite(in2, HIGH);  //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

}