From 08958ad15483ebda840e7d30d4813bfc94e21c41 Mon Sep 17 00:00:00 2001
From: "M. Umar Shahbaz" <shahbazu628@gmail.com>
Date: Mon, 12 Aug 2024 17:04:08 +0500
Subject: [PATCH] Added code

---
 LFR.ino | 111 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 111 insertions(+)
 create mode 100644 LFR.ino

diff --git a/LFR.ino b/LFR.ino
new file mode 100644
index 0000000..8567b51
--- /dev/null
+++ b/LFR.ino
@@ -0,0 +1,111 @@
+// Motor Connections
+const int LF =  2;     // Left Forward
+const int LS =  3;     // Left Speed
+const int LB =  4;     // Left Backward
+const int RF =  5;     // Right Forward
+const int RS =  6;     // Right Speed
+const int RB =  7;     // Right Backward
+
+// IR Array Connections
+const int LH_IR =  8;    // Very Left IR   
+const int LM_IR =  9;    // Slight Left IR
+const int M_IR  = 10;    // Middle IR
+const int RM_IR = 11;    // Slight Right IR
+const int RH_IR = 12;    // Very Right IR
+
+// IR Value containers
+int LH_V;
+int LM_V;
+int M_V;
+int RM_V;
+int RH_V;
+
+//Motor Speed Values
+const int Max = 255; //Maximum Speed
+const int TurnSensitivity = 0.42; // Speed / Wobble
+int TurnSpeed;
+
+
+void setup() {
+  // put your setup code here, to run once:
+  pinMode(LF , OUTPUT);
+  pinMode(LB , OUTPUT);
+  pinMode(LS , OUTPUT);
+  pinMode(RF , OUTPUT);
+  pinMode(RB , OUTPUT);
+  pinMode(RS , OUTPUT);
+  TurnSpeed = TurnSensitivity * Max;
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  LH_V = digitalRead(LH_IR);
+  LM_V = digitalRead(LM_IR);
+  M_V  = digitalRead(M_IR );
+  RM_V = digitalRead(RM_IR);
+  RH_V = digitalRead(RH_IR); // 0 means Black
+
+  if (M_V == 1) {                         // Middle sensor is not on track
+    if (LM_V == 0) {                      // Slight Left IR is on track
+      while(M_V != 0 && LH_V != 0) {      // Turn slighly left until middles sensor is back on track or car has offshooted
+        left(Max, TurnSpeed);
+        M_V = digitalRead(M_IR);
+      }
+    }
+    if (RM_V == 0) {                      // Slight Right IR is on track
+      while(M_V != 0 && RH_V != 0) {      // Turn slighly right until middles sensor is back on track or car has offshooted
+        right(TurnSpeed, Max);
+        M_V = digitalRead(M_IR);
+      }
+    }
+    if (LH_V == 0) {                      // Very Left IR is on track
+      while(M_V != 0) {                   // Turn left at max speed until middles sensor is back on track
+        left(Max, Max);
+        M_V = digitalRead(M_IR);
+      }
+    }
+    if (RH_V == 0) {                      // Very Right IR is on track
+      while(M_V != 0) {                   // Turn right at max speed until middles sensor is back on track
+        right(Max, Max);
+        M_V = digitalRead(M_IR);
+      }
+    }
+  }
+  forward(Max, Max);                      // Go forward once all errors have been corrected
+}
+
+void forward(int L_Speed, int R_Speed) {
+  analogWrite(LS, L_Speed);
+  analogWrite(RS, R_Speed);
+  digitalWrite(LF , HIGH);
+  digitalWrite(LB , LOW);
+  digitalWrite(RF , HIGH);
+  digitalWrite(RB , LOW);
+}
+
+void backward(int L_Speed, int R_Speed) {
+  analogWrite(LS, L_Speed);
+  analogWrite(RS, R_Speed);
+  digitalWrite(LF , LOW);
+  digitalWrite(LB , HIGH);
+  digitalWrite(RF , LOW);
+  digitalWrite(RB , HIGH);
+}
+
+void left(int L_Speed, int R_Speed) {
+  analogWrite(LS, L_Speed);
+  analogWrite(RS, R_Speed);
+  digitalWrite(LF , HIGH);
+  digitalWrite(LB , LOW);
+  digitalWrite(RF , LOW);
+  digitalWrite(RB , HIGH);
+}
+
+void right(int L_Speed, int R_Speed) {
+  analogWrite(LS, L_Speed);
+  analogWrite(RS, R_Speed);
+  digitalWrite(LF , LOW);
+  digitalWrite(LB , HIGH);
+  digitalWrite(RF , HIGH);
+  digitalWrite(RB , LOW);
+}