JMJ Marist Brothers
Notre Dame of Dadiangas University
General Santos City
White Line Follower
CPE 416 – Feedback and Control System
Submitted by:
John Lloyd Sarez
Elijah Patrick San Pedro
Keith Walter Torreblanca
Jerry Bel Tolosa
Alvenn Donald Tutor
Submitted to:
Engr. Feln Lily Canonigo
PROFESSOR
PROGRAM CODES (ARDUINO)
const int MRForward = 2;
const int MRBackward = 3;
const int MLForward = 4;
const int MLBackward = 5;
const int ProxSensorLeft=6;
const int ProxSensorMiddle=7;
const int ProxSensorRight=8;
void setup() {
// put your setup code here, to run once:
pinMode(MRForward, OUTPUT);
pinMode(MRBackward, OUTPUT);
pinMode(MLForward, OUTPUT);
pinMode(MLBackward, OUTPUT);
pinMode(10, OUTPUT);
pinMode(9, OUTPUT);
pinMode(ProxSensorLeft,INPUT);
pinMode(ProxSensorMiddle,INPUT);
pinMode(ProxSensorRight,INPUT);
Serial.begin(9600);
Serial.println("Serial port open");
}
void loop() {
// put your main code here, to run repeatedly:
left = digitalRead(ProxSensorLeft);
middle = digitalRead(ProxSensorMiddle);
right = digitalRead(ProxSensorRight);
if (left == 1 && middle == 0 && right == 1)
{
digitalWrite(MRForward, HIGH);
digitalWrite(MRBackward, LOW);
digitalWrite(MLForward, LOW);
digitalWrite(MLBackward, HIGH) ;
analogWrite(10,85) ; // M2 power backmotor //150
analogWrite(9, 85) ; // M1 front motor
}
else if ( left == 0 && middle == 1 && right == 1)
{
digitalWrite(MRForward, LOW);
digitalWrite(MRBackward, HIGH);
digitalWrite(MLForward, LOW);
digitalWrite(MLBackward, HIGH) ;
analogWrite(10,85) ; // M2 power backmotor //150
analogWrite(9, 85) ; // M1 front motor
}
else if ( left == 0 && middle == 0 && right == 1)
{
digitalWrite(MRForward, LOW);
digitalWrite(MRBackward, HIGH);
digitalWrite(MLForward, LOW);
digitalWrite(MLBackward, HIGH) ;
analogWrite(10,85) ; // M2 power backmotor //150
analogWrite(9, 85) ; // M1 front motor
}
else if ( left == 1 && middle == 1 && right == 0)
{
digitalWrite(MRForward, HIGH);
digitalWrite(MRBackward, LOW);
digitalWrite(MLForward, HIGH);
digitalWrite(MLBackward, LOW) ;
analogWrite(10,85) ; // M2 power backmotor //150
analogWrite(9,85) ; // M1 front motor
}
else if ( left == 1 && middle == 0 && right == 0)
{
digitalWrite(MRForward, HIGH);
digitalWrite(MRBackward, LOW);
digitalWrite(MLForward, HIGH);
digitalWrite(MLBackward, LOW) ;
analogWrite(10, 85) ; // M2 power backmotor //150
analogWrite(9, 85) ; // M1 front motor
}
// stop
else if ( left == 0 && middle == 0 && right == 0)
{
digitalWrite(MRForward, HIGH);
digitalWrite(MRBackward, LOW);
digitalWrite(MLForward, LOW);
digitalWrite(MLBackward, HIGH) ;
analogWrite(10, 85) ; // M2 power backmotor //150
analogWrite(9, 85) ; // M1 front motor
}
else if ( left == 1 && middle == 1 && right == 1)
{
digitalWrite(MRForward, HIGH);
digitalWrite(MRBackward, LOW);
digitalWrite(MLForward, LOW);
digitalWrite(MLBackward, HIGH) ;
analogWrite(10, 85) ; // M2 power backmotor //150
analogWrite(9, 85) ; // M1 front motor
}
}
Documentations (Pictures)