Drew Grigsby

Here is an image of my circuit and line of code I have working for my robot right now. This circuit has 6 IR emitters and receivers that look for a black or dark color on a white surface. Once and emitter/receiver pair find a line the robot will begin to follow it. While following it the robot will also begin to erase the line. My next step is to build the frame which the wheels and arduino will be mounted on. Also, Trademark had a good suggestion about using a webcam to look for a line so I’m going to research that option some more. once the robot is built I will move onto my next step of having the robots location tracked and recorded. 

#include <Servo.h> 

Servo left;
Servo right; 

int mid = 0;
int mn = 0;
int mx = 0;

void setup()
{

left.attach(9, 800, 2200); //left servo motor
right.attach(10, 800, 2200); //right servo motor

Serial.begin(115200);

digitalWrite(13, LOW);

right.write(90);//stop signal
left.write(90);//stop signal

for(int i=0; i<5000; i++)
{
digitalWrite(13, HIGH);

int val = 0;
for(int j=0; j<=5; j++)//Calibrating the sensor, finding max and 
{                      //min reflectance values.
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 = 0;
int s1 = 0;
int s2 = 0;
int s3 = 0;
int s4 = 0;
int s5 = 0;

s0 = analogRead(0);//Signal pin 1 on the board
s1 = analogRead(1);//Signal pin 2 on the board
s2 = analogRead(2);//Signal pin 3 on the board
s3 = analogRead(3);//Signal pin 4 on the board
s4 = analogRead(4);//Signal pin 5 on the board
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);

if((((s0+s1+s2)/3)>(((s3+s4+s5)/3)+240)))//Move right
{
right.write(130);//180
left.write(90);//90
Serial.print(" RIGHT");
delay(abs((((s5+s4+s3)/3)-((s0+s1+s2)/3))/2));
}

if((((s0+s1+s2)/3)<(((s3+s4+s5)/3)-240)))//Move left
{
right.write(40);//90
left.write(0);//0
Serial.print(" LEFT");
delay(abs((((s5+s4+s3)/3)-((s0+s1+s2)/3))/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);
}


}