2.4 Coding

Complete Code:

//Initialization of IR sensor 1 and 2
int IR1= 12 ; //left Sensor

int IR2 = 13 ; //Right sensor

// motor one and two(as both the motors are connected together)

//Right motor

int Motor1a = 9;

int Motor1b = 6 ;

// motor 3 and 4 (as both the motors are connected together)
//Left motor

int Motor2a = 5 ;

int Motor2b = 3 ;

void setup()

{

// put your setup code here, to run once:

pinMode (IR1,INPUT ) ;

pinMode(IR2,INPUT ) ;

pinMode( Motor1a,OUTPUT ) ;

pinMode ( Motor1b,OUTPUT ) ;

pinMode ( Motor2a,OUTPUT ) ;

pinMode ( Motor2b,OUTPUT ) ;

}

void loop ()
//when both the sensor are on black line
{
if(digitalRead(IR1)==HIGH && digitalRead(IR2)==HIGH)

{

//Stop both Motors

digitalWrite(Motor1a,LOW);

digitalWrite(Motor1b,LOW);

digitalWrite(Motor2a,LOW);

digitalWrite(Motor2b,LOW);
}

//IR not on black line

else if(digitalRead(IR1)==LOW && digitalRead(IR2)==LOW)

{

//Move both the Motors

digitalWrite(Motor1a,HIGH);

digitalWrite(Motor1b,LOW);

digitalWrite(Motor2a,HIGH);

digitalWrite(Motor2b,LOW);
}

else if(digitalRead(IR1)==LOW && digitalRead(IR2)==HIGH)

{

//Tilt robot towards left by stopping the left wheel and moving the right one

digitalWrite(Motor1a,HIGH);

digitalWrite(Motor1b,LOW);
digitalWrite(Motor2a,LOW);
digitalWrite(Motor2b,HIGH);
}
else if(digitalRead(IR1)==HIGH && digitalRead(IR2)==LOW)

{

//Tilt robot towards right by stopping the right wheel and moving the left one

digitalWrite(Motor1a,LOW);

digitalWrite(Motor1b,HIGH);
digitalWrite(Motor2a,HIGH);
digitalWrite(Motor2b,LOW);
}
else
{
//Stop both the motors
digitalWrite(Motor1a,LOW);
digitalWrite(Motor1b,LOW);
digitalWrite(Motor2a,LOW);
digitalWrite(Motor2b,LOW);
}
}

Note: All lines written in “// ” are comments which will not run with the code that is just to understand the statements written in the code.