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/*
basato sul codice di esempio di Arvind Sanjeev per il set di sensori QTR-8A
*/
#include <Servo.h>
Servo left;
Servo right;
int mid = 0;
int mn = 1023;
int mx = 0;
void setup()
{
left.attach(9, 800, 2200); //left servo motor
right.attach(10, 800, 2200); //right servo motor
Serial.begin(9600);
digitalWrite(13, LOW);
right.write(90);//stop signal
left.write(90);//stop signal
for(int i=0; i<5000; i++)
{
digitalWrite(13, HIGH);
for(int j=0; j<=5; j++)//Calibrating the sensor, finding max and
{ //min reflectance values.
int 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 = analogRead(0);//Signal pin 1 on the board
int s1 = analogRead(1);//Signal pin 2 on the board
int s2 = analogRead(2);//Signal pin 3 on the board
int s3 = analogRead(3);//Signal pin 4 on the board
int s4 = analogRead(4);//Signal pin 5 on the board
int 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);
int averageLeft = (s0+s1+s2)/3;
int averageRight = (s3+s4+s5)/3;
if(((averageLeft)>((averageRight)+240)))//Move right
{
right.write(130);//180
left.write(90);//90
Serial.print(" RIGHT");
delay(abs((averageRight-(averageLeft))/2));
}
if(((averageLeft)<((averageRight)-240)))//Move left
{
right.write(90);//90
left.write(40);//0
Serial.print(" LEFT");
delay(abs(((averageRight)-(averageLeft))/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);
}
}
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