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#include <Servo.h>

Servo left;
Servo right;
const int leftSensor=A4; //LeftLineSensor
const int rightSensor=A5; //RightLineSensor
const int leftLED=10;
const int rightLED=4;
const int Sensivity=475; // Sensivity is a number which you take as a reference to identify the color change. Normally, qrd1114(line sensor) sends analog signal which varies 0-100 for white color. This output of qrd1114 increases up to 650. This means there is a color change or the sensor is on the black surface.
int i=0;
int FL=1700; // Left Servo Forward
int FR=1300; //Right Servo Forward
int R=0;
int L=0;

void setup()
{
left.attach(12); //left servo motor
right.attach(13); //right servo motor
pinMode(leftSensor, INPUT);
pinMode(rightSensor, INPUT);
pinMode(3, INPUT); pinMode(2, OUTPUT); // Left IR LED & Receiver
pinMode(7, INPUT); pinMode(6, OUTPUT); // Right IR LED & Receiver
pinMode(leftLED, OUTPUT); pinMode(rightLED, OUTPUT); // Left&Right LED
Serial.begin(9600); // Set data rate to 9600 bps

tone(11, 3000, 1000); // Play tone for 1 second
delay(1000); // Delay to finish tone
}

void loop()
{
int leftSens = ReadSens_L();
int rightSens = ReadSens_R();

int irLeft = irDetect(2, 3, 38000); // Check for object on left
int irRight = irDetect(6, 7, 38000); // Check for object on right
digitalWrite(leftLED, !irLeft);
delay(1);
digitalWrite(rightLED, !irRight);
delay(1);
if((irLeft=irDetect(2, 3, 38000))==0) // Obstacle Avoidance and Navigation Section
{

while((irLeft=irDetect(2, 3, 38000))==0)
{
left.writeMicroseconds(FR);
right.writeMicroseconds(FR);
Serial.println(" Obstacle Detected on the Path! Turning Left");
delay(1);

Serial.print(irLeft); // Display 1/0 no detect/detect
Serial.print(" "); // Display 1/0 no detect/detect
Serial.println(irRight); // Display 1/0 no detect/detect

tone(11, 300, 100); // Play tone for 1 second
delay(300); // Delay to finish tone

digitalWrite(leftLED, !irLeft);
delay(1);
digitalWrite(rightLED, !irRight);
delay(1);
}

if((irRight = irDetect(6, 7, 38000))==1)
{

while((irRight = irDetect(6, 7, 38000))==1)
{
left.writeMicroseconds(FR);
right.writeMicroseconds(FR);
Serial.println("Continue Turning Left");
Serial.print(irLeft); // Display 1/0 no detect/detect
Serial.print(" "); // Display 1/0 no detect/detect
Serial.println(irRight); // Display 1/0 no detect/detect
digitalWrite(leftLED, !irLeft);
delay(1);
digitalWrite(rightLED, !irRight);
delay(1);
}
while((irRight = irDetect(6, 7, 38000))==0)
{
left.writeMicroseconds(FR);
right.writeMicroseconds(FR);
Serial.println("Turn Left!");
Serial.print(irLeft); // Display 1/0 no detect/detect
Serial.print(" "); // Display 1/0 no detect/detect
Serial.println(irRight); // Display 1/0 no detect/detect
digitalWrite(leftLED, !irLeft);
delay(1);
digitalWrite(rightLED, !irRight);
delay(1);
}
}
else
{
while((irRight = irDetect(6, 7, 38000))==0)
{
left.writeMicroseconds(FL);
right.writeMicroseconds(FR);
Serial.println("Forward!");
Serial.print(irLeft); // Display 1/0 no detect/detect
Serial.print(" "); // Display 1/0 no detect/detect
Serial.println(irRight); // Display 1/0 no detect/detect
digitalWrite(leftLED, !irLeft);
delay(1);
digitalWrite(rightLED, !irRight);
delay(1);
}
}

while( (leftSens = ReadSens_L())<Sensivity && (rightSens = ReadSens_R())<Sensivity )
{
while((irRight = irDetect(6, 7, 38000))==0 && (leftSens = ReadSens_L())<Sensivity && (rightSens = ReadSens_R())<Sensivity)
{
left.writeMicroseconds(1600);
right.writeMicroseconds(1400);
digitalWrite(rightLED, !irRight);
}
while((irRight = irDetect(6, 7, 38000))==1 && (leftSens = ReadSens_L())<Sensivity && (rightSens = ReadSens_R())<Sensivity)
{
left.writeMicroseconds(1550);
right.writeMicroseconds(1550);
digitalWrite(rightLED, !irRight);
delay(1);
}
}
left.writeMicroseconds(1500);
right.writeMicroseconds(1500);

if((leftSens = ReadSens_L())<Sensivity && (rightSens = ReadSens_R())>Sensivity) // Entering Line
{
while((leftSens = ReadSens_L())<Sensivity && (rightSens = ReadSens_R())<Sensivity)
{
left.writeMicroseconds(FR);
right.writeMicroseconds(FR);
digitalWrite(leftLED, !irLeft);
delay(1);
digitalWrite(rightLED, !irRight);
delay(1);
}}
else
{
if((leftSens = ReadSens_L())>Sensivity && (rightSens = ReadSens_R())<Sensivity)
{
while((rightSens = ReadSens_R())<Sensivity)
{
left.writeMicroseconds(FR);
right.writeMicroseconds(FR);
digitalWrite(leftLED, !irLeft);
delay(1);
digitalWrite(rightLED, !irRight);
delay(1);
}
while((rightSens = ReadSens_R())>Sensivity)
{
left.writeMicroseconds(FR);
right.writeMicroseconds(FR);
delay(2);
}
}}}
else //Line Following Section
{
//----------------------------------------------------------------
// This is Line Sensor Test
/* Serial.print(leftSens);
delay(1);
Serial.print(" <--L R--> ");
delay(1);
Serial.println(rightSens);
delay(1000);
*/
//----------------------------------------------------------------

while( (leftSens = ReadSens_L())>Sensivity && (rightSens = ReadSens_R())>Sensivity )
{
left.writeMicroseconds(FR);
right.writeMicroseconds(FR);
delay(2);
}

Serial.println(" Following Line");
delay(1);
Serial.print(irLeft); // Display 1/0 no detect/detect
Serial.print(" "); // Display 1/0 no detect/detect
Serial.println(irRight); // Display 1/0 no detect/detect
if( (leftSens = ReadSens_L())<Sensivity && (rightSens = ReadSens_R())<Sensivity )
{
left.writeMicroseconds(FL);
right.writeMicroseconds(FR);
delay(2);
}
else
{
if( (leftSens = ReadSens_L())>Sensivity && (rightSens = ReadSens_R())<Sensivity )
{
left.writeMicroseconds(FR);
right.writeMicroseconds(FR);
delay(2);
}
else
{
if( (leftSens = ReadSens_L())<Sensivity && (rightSens = ReadSens_R())>Sensivity )
{
left.writeMicroseconds(1700);
right.writeMicroseconds(1700);
delay(2);
}
}}}

}
int ReadSens_L(){
int i;
int L = 0;
for (i = 0; i < 5; i++){
L = L + analogRead(A4); // sensor on analog pin A2
}

L = L / 5; // average
return L;
}
int ReadSens_R(){
int j;
int R = 0;

for (j = 0; j < 5; j++){
R = R + analogRead(A5); // sensor on analog pin A3
}
R = R / 5; // avarage
return R;
}
// IR Object Detection Function

int irDetect(int irLedPin, int irReceiverPin, long frequency)
{
tone(irLedPin, frequency, 8); // IRLED 38 kHz for at least 1 ms
delay(1); // Wait 1 ms
int ir = digitalRead(irReceiverPin); // IR receiver -> ir variable
delay(1); // Down time before recheck
return ir; // Return 1 no detect, 0 detect
}