/* ELEC1100 Your Lab#06 & Project Template To program the car tracking the white line on a dark mat Group No. (number of your project box): Group Member 1 (name & SID): Group Member 2 (name & SID):*/// assign meaningful names to those pins that will be usedconst int pinL_Sensor = A5; //pin A5: left sensor const int pinB_Sensor = A4; //pin A4: bumper sensorconst int pinR_Sensor = A3; //pin A3: right sensor const int pinL_PWM = 9; //pin D9: left motor speedconst int pinL_DIR = 10; //pin D10: left motor directionconst int pinR_PWM = 11; //pin D11: right motor speedconst int pinR_DIR = 12; //pin D12: right motor direction//define variables to be used in scriptint bumperSensor = 1; // not sensing whiteint leftSensor = 1; // not sensing whiteint rightSensor = 1; // not sensing whiteint countBumper = 0; // bumper sensor not triggered yet// the setup function runs once when you press reset or power the boardvoid setup (){ // define pins as input and output pinMode(pinB_Sensor, INPUT); pinMode(pinL_Sensor, INPUT); pinMode(pinR_Sensor, INPUT); pinMode(pinL_DIR, OUTPUT); pinMode(pinR_DIR, OUTPUT); pinMode(pinL_PWM, OUTPUT); pinMode(pinR_PWM, OUTPUT); // initialize output pins digitalWrite(pinL_DIR, HIGH); //forward direction digitalWrite(pinR_DIR, HIGH); //forward direction analogWrite(pinL_PWM, 0); //stop at the start position analogWrite(pinR_PWM, 0); //stop at the start position }// the loop function runs over and over again forevervoid loop() { // Arduino is reading the sensor measurements bumperSensor = digitalRead(pinB_Sensor); leftSensor = digitalRead(pinL_Sensor); rightSensor = digitalRead(pinR_Sensor); // car stops at the start position when bumper sensor no trigger if ( bumperSensor && countBumper == 0 ) { analogWrite(pinL_PWM, 0); analogWrite(pinR_PWM, 0); } // bumper sensor is triggered at the start position for the 1st time else if ( !bumperSensor && countBumper == 0) { analogWrite(pinL_PWM, 150); analogWrite(pinR_PWM, 150); countBumper = countBumper + 1; delay(350); //to let the car leave the start position with no miscount } // car is tracking on the white line else if ( bumperSensor && countBumper == 1) { if ( !leftSensor && !rightSensor ) { analogWrite(pinL_PWM, 180); analogWrite(pinR_PWM, 180); digitalWrite(pinL_DIR, HIGH); digitalWrite(pinR_DIR, HIGH); } // Case 2: Left sensor sees white, right sees dark -> Drifted right, steer left if ( !leftSensor && rightSensor ) { analogWrite(pinL_PWM, 50); analogWrite(pinR_PWM, 180); digitalWrite(pinL_DIR, HIGH); digitalWrite(pinR_DIR, HIGH); } // Case 3: Left sensor sees dark, right sees white -> Drifted left, steer right if ( leftSensor && !rightSensor ) { analogWrite(pinL_PWM, 180); analogWrite(pinR_PWM, 50); digitalWrite(pinL_DIR, HIGH); digitalWrite(pinR_DIR, HIGH); } // Case 4: Both sensors see dark -> Lost line, move forward to search if ( leftSensor && rightSensor ) { analogWrite(pinL_PWM, 150); analogWrite(pinR_PWM, 150); digitalWrite(pinL_DIR, HIGH); digitalWrite(pinR_DIR, HIGH); } }}