"Line Following" rev_01

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    - Project: "Line Following"
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2024-12-18 03:08:36

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* make a line follower and obstacle avoiding code */
/****** END SYSTEM REQUIREMENTS *****/

/* START CODE */

/****** DEFINITION OF LIBRARIES *****/
#include <Ultrasonic.h> //https://github.com/ErickSimoes/Ultrasonic

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
long getDistance(); // Added function prototype for distance measurement
void lineFollow(); // Added function prototype for line following
void moveForward(); // Added function prototype for moving forward
void stopMotors(); // Added function prototype for stopping motors
void turnRight(); // Added function prototype for turning right
void turnLeft(); // Added function prototype for turning left

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t more_HC-SR04_Echo_PIN_D3 = 3;
const int irLeftPin = 2;    // IR sensor left
const int irRightPin = 3;   // IR sensor right

/***** DEFINITION OF DIGITAL OUTPUT PINS *****/
const uint8_t more_HC-SR04_Trigger_PIN_D2 = 2;
const int trigPin = 4;      // Ultrasonic Trigger Pin
const int echoPin = 5;      // Ultrasonic Echo Pin
const int motorLeftPin1 = 6; // Motor driver left motor control 1
const int motorLeftPin2 = 7; // Motor driver left motor control 2
const int motorRightPin1 = 8; // Motor driver right motor control 1
const int motorRightPin2 = 9; // Motor driver right motor control 2

/***** DEFINITION OF OUTPUT RAW VARIABLES *****/
bool more_HC-SR04_Trigger_PIN_D2_rawData = 0;

/***** DEFINITION OF OUTPUT PHYSICAL VARIABLES *****/
float more_HC-SR04_Trigger_PIN_D2_phyData = 0.0;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
// Create an instance of the Ultrasonic class
Ultrasonic ultrasonic(trigPin, echoPin);

void setup(void)
{
    // put your setup code here, to run once:
    pinMode(more_HC-SR04_Echo_PIN_D3, INPUT);
    pinMode(more_HC-SR04_Trigger_PIN_D2, OUTPUT);

    // Initialize the pins for the IR sensors and motors
    pinMode(irLeftPin, INPUT);
    pinMode(irRightPin, INPUT);
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);
    pinMode(motorLeftPin1, OUTPUT);
    pinMode(motorLeftPin2, OUTPUT);
    pinMode(motorRightPin1, OUTPUT);
    pinMode(motorRightPin2, OUTPUT);

    Serial.begin(9600); // For debugging
}

void loop(void)
{
    // put your main code here, to run repeatedly:
    updateOutputs(); // Refresh output data

    // Get distance from ultrasonic sensor
    long distance = getDistance();

    // Check for obstacles using ultrasonic sensor
    if (distance < 10) {
        // Obstacle detected, stop and turn
        stopMotors();
        delay(500);  // Wait for a moment
        turnRight(); // Turn to avoid obstacle
    } else {
        // No obstacle detected, follow the line
        lineFollow();
    }
}

void updateOutputs()
{
    digitalWrite(more_HC-SR04_Trigger_PIN_D2, more_HC-SR04_Trigger_PIN_D2_rawData);
}

// Function to measure the distance using ultrasonic sensor
long getDistance() {
    digitalWrite(trigPin, LOW);  // Clear the Trigger pin
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH); // Send trigger pulse
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);

    long duration = pulseIn(echoPin, HIGH);  // Measure the duration of echo pulse
    long distance = (duration / 2) / 29.1;  // Calculate the distance in cm
    return distance;
}

// Function for line following
void lineFollow() {
    int leftSensor = digitalRead(irLeftPin);
    int rightSensor = digitalRead(irRightPin);

    if (leftSensor == LOW && rightSensor == LOW) {
        // Both sensors on the line, move forward
        moveForward();
    } else if (leftSensor == LOW && rightSensor == HIGH) {
        // Left sensor on the line, turn left
        turnLeft();
    } else if (leftSensor == HIGH && rightSensor == LOW) {
        // Right sensor on the line, turn right
        turnRight();
    } else {
        // Both sensors off the line, turn right or left to re-align
        turnRight();
    }
}

// Move forward
void moveForward() {
    digitalWrite(motorLeftPin1, HIGH);
    digitalWrite(motorLeftPin2, LOW);
    digitalWrite(motorRightPin1, HIGH);
    digitalWrite(motorRightPin2, LOW);
}

// Stop motors
void stopMotors() {
    digitalWrite(motorLeftPin1, LOW);
    digitalWrite(motorLeftPin2, LOW);
    digitalWrite(motorRightPin1, LOW);
    digitalWrite(motorRightPin2, LOW);
}

// Turn right
void turnRight() {
    digitalWrite(motorLeftPin1, HIGH);
    digitalWrite(motorLeftPin2, LOW);
    digitalWrite(motorRightPin1, LOW);
    digitalWrite(motorRightPin2, LOW);
    delay(300); // Turn for 300ms
    moveForward(); // Resume moving forward
}

// Turn left
void turnLeft() {
    digitalWrite(motorLeftPin1, LOW);
    digitalWrite(motorLeftPin2, LOW);
    digitalWrite(motorRightPin1, HIGH);
    digitalWrite(motorRightPin2, LOW);
    delay(300); // Turn for 300ms
    moveForward(); // Resume moving forward

}

/* END CODE */