Found and Edited Logical Errors

LFR.ino → Line-Follower.ino

@@ -1,17 +1,17 @@
 // 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
+const int RF =  7;     // Left Forward
+const int RS =  6;     // Left Speed
+const int RB =  8;     // Left Backward
+const int LF =  9;     // Right Forward
+const int LS =  5;     // Right Speed
+const int LB =  10;     // 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
+const int LH_IR = 11;    // Very Left IR   
+const int LM_IR = 12;    // Slight Left IR
+const int M_IR  = 13;    // Middle IR
+const int RM_IR = 3;    // Slight Right IR
+const int RH_IR = 4;    // Very Right IR
 
 // IR Value containers
 int LH_V;
@@ -22,8 +22,8 @@ int RH_V;
 
 //Motor Speed Values
 const int Max = 255; //Maximum Speed
-const int TurnSensitivity = 0.42; // Speed / Wobble
-int TurnSpeed;
+const int TurnSensitivity = 0.72; // Speed = k * Wobble
+int TurnSpeed; // Speed of non-dominant side when turning
 
 
 void setup() {
@@ -34,7 +34,8 @@ void setup() {
   pinMode(RF , OUTPUT);
   pinMode(RB , OUTPUT);
   pinMode(RS , OUTPUT);
-  TurnSpeed = TurnSensitivity * Max;
+  // TurnSpeed = TurnSensitivity * Max; Use with Gyro and Maths to caluclate on the run | Code for Gyro to be added soon
+  // TurnSpeed = 115; Use to manually set in case of use without sensors
 }
 
 void loop() {
@@ -48,25 +49,27 @@ void loop() {
   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);
+        forward(TurnSpeed, Max);
         M_V = digitalRead(M_IR);
+        LH_V = digitalRead(LH_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);
+        forward(Max, TurnSpeed);
         M_V = digitalRead(M_IR);
+        RH_V = digitalRead(RH_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);
+      while(M_V != 0) {                   // Rotate left at TurnSpeed until middles sensor is back on track
+        left(TurnSpeed, TurnSpeed);
         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);
+      while(M_V != 0) {                   // Rotate right at TurnSpeed speed until middles sensor is back on track
+        right(TurnSpeed, TurnSpeed);
         M_V = digitalRead(M_IR);
       }
     }
@@ -108,4 +111,4 @@ void right(int L_Speed, int R_Speed) {
   digitalWrite(LB , HIGH);
   digitalWrite(RF , HIGH);
   digitalWrite(RB , LOW);
-}
+}