Line-Follower-Code.md

-````#include:<Arduino.h>
-#include <Wire.h>
-#include <VL53L0X.h>
+\`\`\`#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; 
@@ -12,22 +10,16 @@ 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;   
@@ -35,33 +27,25 @@ 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) {
+  if (pwm_val \> 0) {
     analogWrite(pinIn1, pwm_val);
     analogWrite(pinIn2, 0);
-  } else if (pwm_val < 0) {
+  } else if (pwm_val \< 0) {
     analogWrite(pinIn1, 0);
     analogWrite(pinIn2, -pwm_val);
   } else {
@@ -71,16 +55,12 @@ void controlMotor(int pinIn1, int pinIn2, int pwm_val) {
 }
 
 // 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);
@@ -117,8 +97,6 @@ void avoidObstacle() {
 }
 
 // Robot Setup
-
-
 void setup() {
   Serial.begin(115200);
 
@@ -150,8 +128,6 @@ void setup() {
 }
 
 // Loop Function
-
-
 void loop() {
   // Toggle Robot State with BOOTSEL Button
   if (BOOTSEL) {
@@ -165,7 +141,7 @@ void loop() {
 
   // Obstacle Detection and Avoidance
   uint16_t distance = sensor.readRangeContinuousMillimeters();
-  if (distance > 0 && distance < MAX_DISTANCE) avoidObstacle();
+  if (distance \> 0 && distance \< MAX_DISTANCE) avoidObstacle();
 
   // Line Following Logic
   // Read Line Sensors Values
@@ -224,5 +200,4 @@ void loop() {
   // 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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