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- int sensorPin0 = A0;
- int sensorValue0 = 0;
- int sensorPin1 = A1;
- int sensorValue1 = 0;
- int sensorPin2 = A2;
- int sensorValue2 = 0;
- int sensorPin3 = A3;
- int sensorValue3 = 0;
- int left = 0;
- int right = 0;
- int up = 0;
- int down = 0;
- int ledPin3 = 10;
- int ledPin4 = 11;
- int ledPin5 = 8;
- int ledPin6 = 9;
- void setup()
- {
- Serial.begin(9600);
- pinMode(ledPin3, OUTPUT);
- pinMode(ledPin4, OUTPUT);
- pinMode(ledPin5, OUTPUT);
- pinMode(ledPin6, OUTPUT);
- }
- void loop() {
- ////////////////////////////////////////////////////// Set all relays low
- digitalWrite(ledPin3, HIGH);
- digitalWrite(ledPin4, HIGH);
- digitalWrite(ledPin5, HIGH);
- digitalWrite(ledPin6, HIGH);
- ////////////////////////////////////////////////////// Read Orange Input
- sensorValue0 = analogRead(sensorPin0);
- delay(1000);
- // Serial.print ("orange - sensor 0 = ");
- // Serial.println (sensorValue0);
- /////////////////////////////////////////////////////// Read Yellow Input
- sensorValue1 = analogRead(sensorPin1);
- delay(1000);
- // Serial.print ("yellow - sensor 1 = ");
- sensorValue1 = (sensorValue1 + 26); //////compensation for LDR, tweak as necessary
- // Serial.println (sensorValue1);
- //////////////////////////////////////////////////////// Read Blue Input
- sensorValue2 = analogRead(sensorPin2);
- delay(1000);
- // Serial.print ("blue - sensor 2 = "); //////compensation for LDR, tweak as necessary
- // Serial.println (sensorValue2);
- //////////////////////////////////////////////////////// Read Green Input
- sensorValue3 = analogRead(sensorPin3);
- delay(1000);
- sensorValue3 = (sensorValue3 + 25);
- // Serial.print ("green - sensor 3 = "); //////compensation for LDR, tweak as necessary
- // Serial.println (sensorValue3);
- // Serial.println ("");
- ////////////////////////////////////////////////////////Move Left?
- left = (sensorValue1 - sensorValue3);
- // Serial.print ("left = ");
- // Serial.println (left);
- if (left > 3) ///// 3 = threshold value. Lower number will cause more movements and increase twitching
- {
- // Serial.println ("Move Motor Left");
- digitalWrite(ledPin3, LOW);
- delay(75);
- digitalWrite(ledPin3, HIGH);
- }
- delay(1000);
- ////////////////////////////////////////////////////////Move Right?
- right = (sensorValue3 - sensorValue1);
- // Serial.print ("right = ");
- // Serial.println (right);
- if (right > 3) ///// 3 = threshold value. Lower number will cause more movements and increase twitching
- {
- // Serial.println ("Move Motor Right");
- digitalWrite(ledPin4, LOW);
- delay(75);
- digitalWrite(ledPin4, HIGH);
- }
- delay(1000);
- ////////////////////////////////////////////////////////Move Up?
- up = (sensorValue0 - sensorValue2);
- // Serial.print ("up = ");
- // Serial.println (up);
- if (up > 3) ///// 3 = threshold value. Lower number will cause more movements and increase twitching
- {
- // Serial.println ("Move Motor Up");
- digitalWrite(ledPin5, LOW);
- delay(500);
- digitalWrite(ledPin5, HIGH);
- }
- delay(1000);
- ////////////////////////////////////////////////////////Move Down?
- down = (sensorValue2 - sensorValue0);
- // Serial.print ("down = ");
- // Serial.println (down);
- if (down > 3) ///// 3 = threshold value. Lower number will cause more movements and increase twitching
- {
- // Serial.println ("Move Motor Down");
- digitalWrite(ledPin6, LOW);
- delay(500);
- digitalWrite(ledPin6, HIGH);
- }
- delay(1000);
- }
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