Line-Follower-Code.md

-[main.cpp](uploads/ac3c66ce1deb109bfa5b4e25dd73e31e/main.cpp)
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+````#include:<Arduino.h>
+#include <Wire.h>
+#include <VL53L0X.h>
+
+// Line Sensor Pins
+
+
+const int PIN_IR_1 = 2; 
+const int PIN_IR_2 = 3; 
+const int PIN_IR_3 = 4; 
+const int PIN_IR_4 = 5; 
+const int PIN_IR_5 = 6; 
+
+// Motor Sensor Pins
+
+
+const int PIN_MOTOR_L_IN1 = 10;
+const int PIN_MOTOR_L_IN2 = 11;
+const int PIN_MOTOR_R_IN1 = 13;
+const int PIN_MOTOR_R_IN2 = 12;
+
+// ToF Sensor Pins
+
+
+const int PIN_SCL = 17;
+const int PIN_SDA = 16;
+
+// Velocity Settings
+
+
+const int VEL_NORMAL = 75;  
+const int VEL_SEARCH = 62;   
+const int VEL_SLOW = 40;   
+const int VEL_FAST = 144;   
+const int VEL_REVERSE = -54;  
+
+// Time Settings for Obstacle Avoidance
+
+
+const int TIME_LEFT = 700;
+const int TIME_FORWARD = 1700;
+const int TIME_RIGHT = 1500;
+
+// Maximum Distance to Detect Obstacle
+
+
+const int MAX_DISTANCE = 160;
+
+// Objects and States
+
+
+VL53L0X sensor;
+bool robot_running = false;
+int last_direction = 0; 
+
+// Function to Control Motor Speed and by PWM Values
+
+
+void controlMotor(int pinIn1, int pinIn2, int pwm_val) {
+  pwm_val = constrain(pwm_val, -255, 255);
+  if (pwm_val > 0) {
+    analogWrite(pinIn1, pwm_val);
+    analogWrite(pinIn2, 0);
+  } else if (pwm_val < 0) {
+    analogWrite(pinIn1, 0);
+    analogWrite(pinIn2, -pwm_val);
+  } else {
+    analogWrite(pinIn1, 0);
+    analogWrite(pinIn2, 0);
+  }
+}
+
+// Function to Stop the Robot Motors
+
+
+void stopRobot() {
+  controlMotor(PIN_MOTOR_L_IN1, PIN_MOTOR_L_IN2, 0);
+  controlMotor(PIN_MOTOR_R_IN1, PIN_MOTOR_R_IN2, 0);
+}
+
+// Function to Avoid Obstacle Detected by ToF Sensor
+
+
+void avoidObstacle() {
+  stopRobot();
+  delay(250);
+
+  // Rotate Left
+  controlMotor(PIN_MOTOR_L_IN1, PIN_MOTOR_L_IN2, VEL_REVERSE);
+  controlMotor(PIN_MOTOR_R_IN1, PIN_MOTOR_R_IN2, VEL_NORMAL);
+  delay(TIME_LEFT);
+
+  // Go Forward
+  controlMotor(PIN_MOTOR_L_IN1, PIN_MOTOR_L_IN2, VEL_NORMAL);
+  controlMotor(PIN_MOTOR_R_IN1, PIN_MOTOR_R_IN2, VEL_NORMAL);
+  delay(TIME_FORWARD);
+
+  // Rotate Right
+  controlMotor(PIN_MOTOR_L_IN1, PIN_MOTOR_L_IN2, VEL_NORMAL);
+  controlMotor(PIN_MOTOR_R_IN1, PIN_MOTOR_R_IN2, VEL_REVERSE);
+  delay(TIME_RIGHT);
+
+  // Move Backward until Line is Found
+  bool lineFound = false;
+  while (!lineFound) {
+    controlMotor(PIN_MOTOR_L_IN1, PIN_MOTOR_L_IN2, VEL_NORMAL);
+    controlMotor(PIN_MOTOR_R_IN1, PIN_MOTOR_R_IN2, VEL_NORMAL);
+
+    // Check Line Sensors to Detect Line
+    if (!digitalRead(PIN_IR_2) || !digitalRead(PIN_IR_3) || !digitalRead(PIN_IR_4)) {
+      lineFound = true;
+    }
+  }
+
+  stopRobot();
+  delay(100);
+}
+
+// Robot Setup
+
+
+void setup() {
+  Serial.begin(115200);
+
+  // I2C Setup
+  Wire.setSDA(PIN_SDA);
+  Wire.setSCL(PIN_SCL);
+  Wire.begin();
+
+  // Motor Pins Setup
+  pinMode(PIN_MOTOR_L_IN1, OUTPUT);
+  pinMode(PIN_MOTOR_L_IN2, OUTPUT);
+  pinMode(PIN_MOTOR_R_IN1, OUTPUT);
+  pinMode(PIN_MOTOR_R_IN2, OUTPUT);
+  
+  // Line Sensor Pins Setup
+  pinMode(PIN_IR_1, INPUT);
+  pinMode(PIN_IR_2, INPUT);
+  pinMode(PIN_IR_3, INPUT);
+  pinMode(PIN_IR_4, INPUT);
+  pinMode(PIN_IR_5, INPUT);
+
+  // ToF Sensor Setup
+  sensor.init();
+  sensor.setTimeout(500);
+  sensor.startContinuous();
+
+  pinMode(LED_BUILTIN, OUTPUT);
+  delay(1000);
+}
+
+// Loop Function
+
+
+void loop() {
+  // Toggle Robot State with BOOTSEL Button
+  if (BOOTSEL) {
+    robot_running = !robot_running;
+    digitalWrite(LED_BUILTIN, robot_running ? HIGH : LOW);
+    if (!robot_running) stopRobot();
+    delay(500);
+  }
+
+  if(!robot_running) return;
+
+  // Obstacle Detection and Avoidance
+  uint16_t distance = sensor.readRangeContinuousMillimeters();
+  if (distance > 0 && distance < MAX_DISTANCE) avoidObstacle();
+
+  // Line Following Logic
+  // Read Line Sensors Values
+  int s1 = !digitalRead(PIN_IR_1);
+  int s2 = !digitalRead(PIN_IR_2);
+  int s3 = !digitalRead(PIN_IR_3);
+  int s4 = !digitalRead(PIN_IR_4);
+  int s5 = !digitalRead(PIN_IR_5);
+
+  int motorL = 0;
+  int motorR = 0;
+
+  // Determine Motor Speeds Based on Sensor Readings
+  if (s3 && !s2 && !s4) {
+    motorL = VEL_NORMAL;
+    motorR = VEL_NORMAL;
+    last_direction = 0;
+  } else if (s3 && s2) {
+    motorR = VEL_SLOW; 
+    motorL = VEL_NORMAL + 10; 
+    last_direction = 1;
+  } else if (s3 && s4) {
+    motorR = VEL_NORMAL + 10; 
+    motorL = VEL_SLOW;
+    last_direction = 2;
+  } else if (s2) {
+    motorR = 30; 
+    motorL = VEL_NORMAL;
+    last_direction = 1;
+  } else if (s4) {
+    motorR = VEL_NORMAL; 
+    motorL = 30;
+    last_direction = 2;
+  } else if (s1) {
+    motorR = VEL_REVERSE; 
+    motorL = VEL_FAST;
+    last_direction = 1;
+  } else if (s5) {
+    motorR = VEL_FAST; 
+    motorL = VEL_REVERSE;
+    last_direction = 2;
+  } else {
+    // In the case of No Line Detected, continue based on Last Direction
+    if(last_direction == 0){
+      motorL = VEL_SEARCH;
+      motorR = VEL_SEARCH;
+    } else if (last_direction == 1){
+      motorR = VEL_REVERSE; 
+      motorL = VEL_NORMAL;
+    } else if (last_direction == 2){
+      motorR = VEL_NORMAL; 
+      motorL = VEL_REVERSE;
+    }
+  }
+
+  // Set Motor Speeds
+  controlMotor(PIN_MOTOR_L_IN1, PIN_MOTOR_L_IN2, motorL);
+  controlMotor(PIN_MOTOR_R_IN1, PIN_MOTOR_R_IN2, motorR);
+}```
+````
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