robot_control.ino

// Motor and sensor pin definitions
const int MR1 = 8;  // Motor right 1
const int MR2 = 9;  // Motor right 2
const int ML1 = 10; // Motor left 1
const int ML2 = 11; // Motor left 2
const int SR = 6;   // Sensor right
const int SL = 7;   // Sensor left
const int LED = 13; // LED indicator
const int ENR = 3;  // Enable pin for right motor
const int ENL = 5;  // Enable pin for left motor

// Speed and timing parameters
const int VSPEED = 100;   // Speed for forward and backward motion
const int TSPEED = 255;   // Speed for turning
const int TDELAY = 20;    // Delay for turning

void setup() {
  // Initialize pin modes
  pinMode(MR1, OUTPUT);
  pinMode(MR2, OUTPUT);
  pinMode(ML1, OUTPUT);
  pinMode(ML2, OUTPUT);
  pinMode(LED, OUTPUT);
  pinMode(SR, INPUT);
  pinMode(SL, INPUT);
  
  delay(5000); // Delay for setup
}

void loop() {
  // Read sensor values
  int svr = digitalRead(SR);
  int svl = digitalRead(SL);

  // Determine robot behavior based on sensor values
  if (svl == LOW && svr == LOW) {
    forward(); // Move forward
  } else if (svl == HIGH && svr == LOW) {
    left(); // Turn left
  } else if (svl == LOW && svr == HIGH) {
    right(); // Turn right
  } else if (svl == HIGH && svr == HIGH) {
    stop(); // Stop
  }
}

void forward() {
  // Move forward by setting motor directions
  digitalWrite(MR1, HIGH);
  digitalWrite(MR2, LOW);
  digitalWrite(ML1, HIGH);
  digitalWrite(ML2, LOW);
  analogWrite(ENR, VSPEED);
  analogWrite(ENL, VSPEED);
}

void backward() {
  // Move backward by setting motor directions
  digitalWrite(MR1, LOW);
  digitalWrite(MR2, HIGH);
  digitalWrite(ML1, LOW);
  digitalWrite(ML2, HIGH);
  analogWrite(ENR, VSPEED);
  analogWrite(ENL, VSPEED);
}

void right() {
  // Turn right by adjusting motor speeds
  digitalWrite(MR1, LOW);
  digitalWrite(MR2, HIGH);
  digitalWrite(ML1, HIGH);
  digitalWrite(ML2, LOW);
  analogWrite(ENR, TSPEED);
  analogWrite(ENL, TSPEED);
  delay(TDELAY);
}

void left() {
  // Turn left by adjusting motor speeds
  digitalWrite(MR1, HIGH);
  digitalWrite(MR2, LOW);
  digitalWrite(ML1, LOW);
  digitalWrite(ML2, HIGH);
  analogWrite(ENR, TSPEED);
  analogWrite(ENL, TSPEED);
  delay(TDELAY);
}

void stop() {
  // Stop the robot by setting motor speeds to zero
  analogWrite(ENR, 0);
  analogWrite(ENL, 0);
}