SEGUIDOR DE LINEA

REALIZA TU SEGUIDOR DE LINEA CON ARDUINO

DIAGRAMA DE CONEXION

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 CODIGO

//sensor infrarojo

int reflex1=8; //IZQUIERDO

int reflex2=2 ; //DERECHO

//motores parte derecha

int G1motorA1= A0; //IN1

int G1motorA2= A1; //IN2

int G1motorB1= A2; //IN3

int G1motorB2= A3; //IN4

//motores parte izquierda

int G2motorA1= 5; //IN2

int G2motorA2= 4; //IN1

int G2motorB1= 7; //IN4

int G2motorB2= 6; //IN3

int piezo = A4;

int led_izquierda= 0;

int led_centro= 1;

int led_derecha= A5;

int echo = 12;

int trigger =13;

int PWM1= 10;//llanta derecha

int PWM2= 11;//llanta derecha

int PWM3= 9;//llanta izquierda

int PWM4= 3;//llanta izquierda

void setup()

{

pinMode(reflex1, INPUT);

pinMode(reflex2, INPUT);

pinMode(G1motorA1, OUTPUT);

pinMode(G1motorA2, OUTPUT);

pinMode(G1motorB1, OUTPUT);

pinMode(G1motorB2, OUTPUT);

pinMode(G2motorA1, OUTPUT);

pinMode(G2motorA2, OUTPUT);

pinMode(G2motorB1, OUTPUT);

pinMode(G2motorB2, OUTPUT);

pinMode(piezo,OUTPUT);

digitalWrite(piezo,HIGH);

pinMode(led_izquierda, OUTPUT);

pinMode(led_centro, OUTPUT);

pinMode(led_derecha, OUTPUT);

pinMode(echo, INPUT);

pinMode(trigger, OUTPUT);

//Serial.begin(9600);

}

void loop()

{

long t;

long d;

digitalWrite(trigger,HIGH);

delayMicroseconds(10);

digitalWrite(trigger,LOW);

t= pulseIn(echo,HIGH);

d= t/59;//distancia total

if (d>= 10)

{

digitalWrite (led_centro, HIGH);

digitalWrite (led_derecha, LOW);

digitalWrite (led_izquierda, LOW);

//MOVIMIENTO A LA IZQUIERDA

if (digitalRead(reflex1)==HIGH && digitalRead(reflex2)==LOW)

{ //blanco LOW, negro HIGH

analogWrite(PWM1,200);

analogWrite(PWM2,200);

analogWrite(PWM3,200);

analogWrite(PWM4,200);

digitalWrite (G1motorA1, HIGH);

digitalWrite (G1motorA2, LOW);

digitalWrite (G1motorB1, HIGH);

digitalWrite (G1motorB2, LOW);

digitalWrite (G2motorA1, LOW);

digitalWrite (G2motorA2, HIGH);

digitalWrite (G2motorB1, LOW);

digitalWrite (G2motorB2, HIGH);

//Serial.println("derecha");

digitalWrite (led_derecha, HIGH);

digitalWrite (led_izquierda, LOW);

digitalWrite (led_centro, LOW);

}

//MOVIMIENTO A LA DERECHA

if (digitalRead(reflex1)==LOW && digitalRead(reflex2)==HIGH)

{

analogWrite(PWM1,200);

analogWrite(PWM2,200);

analogWrite(PWM3,200);

analogWrite (PWM4,200);

digitalWrite (G1motorA1, LOW);

digitalWrite (G1motorA2, HIGH);

digitalWrite (G1motorB1, LOW);

digitalWrite (G1motorB2, HIGH);

digitalWrite (G2motorA1, HIGH);

digitalWrite (G2motorA2, LOW);

digitalWrite (G2motorB1, HIGH);

digitalWrite (G2motorB2, LOW);

digitalWrite (led_izquierda, HIGH);

digitalWrite (led_centro, LOW);

digitalWrite (led_derecha, LOW);

//Serial.println("izquierda");

}

// CONTINUA AMBOS SENSORES EN BLANCO

if (digitalRead(reflex1)==LOW && digitalRead(reflex2)==LOW)

{

analogWrite(PWM1,150);

analogWrite(PWM2,150);

analogWrite(PWM3,150);

analogWrite(PWM4,150);

digitalWrite (G1motorA1, HIGH);

digitalWrite (G1motorA2, LOW);

digitalWrite (G1motorB1, HIGH);

digitalWrite (G1motorB2, LOW);

digitalWrite (G2motorA1, HIGH);

digitalWrite (G2motorA2, LOW);

digitalWrite (G2motorB1, HIGH);

digitalWrite (G2motorB2, LOW);

}

// RETROCEDE, AMBOS SENSORES EN NEGRO

if (digitalRead(reflex1)==HIGH && digitalRead(reflex2)==HIGH)

{

analogWrite(PWM1,150);

analogWrite(PWM2,150);

analogWrite(PWM3,150);

analogWrite(PWM4,150);

digitalWrite (G1motorA1, LOW);

digitalWrite (G1motorA2, HIGH);

digitalWrite (G1motorB1, LOW);

digitalWrite (G1motorB2, HIGH);

digitalWrite (G2motorA1, LOW);

digitalWrite (G2motorA2, HIGH);

digitalWrite (G2motorB1, LOW);

digitalWrite (G2motorB2, HIGH);

//Serial.println("centro");

}

}

else//se apagan todos los motores

{

digitalWrite (G1motorA1, LOW);

digitalWrite (G1motorA2, LOW);

digitalWrite (G1motorB1, LOW);

digitalWrite (G1motorB2, LOW);

digitalWrite (G2motorA1, LOW);

digitalWrite (G2motorA2, LOW);

digitalWrite (G2motorB1, LOW);

digitalWrite (G2motorB2, LOW);

digitalWrite(piezo,LOW);

delay(1000);

digitalWrite(piezo,HIGH);

}

}