Line-Following Robot rev_01

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    - Project: Line-Following Robot
    - Source Code NOT compiled for: ESP32 DevKit V1
    - Source Code created on: 2025-12-03 03:24:49

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* line followin robot with 2 ir sensor */
/****** END SYSTEM REQUIREMENTS *****/


/* START CODE */

/****** DEFINITION OF LIBRARIES *****/
#include <Ultrasonic.h>
#include <Arduino.h>

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t obstacle_detection_sensor_HC-SR04_Echo_PIN_D13 = 13;

/***** DEFINITION OF DIGITAL OUTPUT PINS *****/
const uint8_t obstacle_detection_sensor_HC-SR04_Trigger_PIN_D4 = 4;

// Create Ultrasonic object
Ultrasonic ultrasonicTrigger(obstacle_detection_sensor_HC-SR04_Trigger_PIN_D4, obstacle_detection_sensor_HC-SR04_Echo_PIN_D13);

// IR sensors for line follow
const uint8_t IR_left_SENSOR_PIN = 14;
const uint8_t IR_right_SENSOR_PIN = 15;

void setup(void) {
    pinMode(IR_left_SENSOR_PIN, INPUT);
    pinMode(IR_right_SENSOR_PIN, INPUT);
    Serial.begin(9600);
}

void loop(void) {
    int IR_left_state = digitalRead(IR_left_SENSOR_PIN);
    int IR_right_state = digitalRead(IR_right_SENSOR_PIN);

    int distanceCM = ultrasonicTrigger.read();
    int distanceIN = ultrasonicTrigger.read(INC);

    // Determine movement based on IR sensors
    if (IR_left_state == LOW && IR_right_state == LOW) {
        // Both sensors on line, go forward
        Serial.println("Moving forward");
    } else if (IR_left_state == LOW && IR_right_state == HIGH) {
        // Turn right
        Serial.println("Turning right");
    } else if (IR_left_state == HIGH && IR_right_state == LOW) {
        // Turn left
        Serial.println("Turning left");
    } else {
        // No line detected, stop or search
        Serial.println("Searching for line");
    }

    // Print ultrasonic distances
    Serial.print("Distance CM: ");
    Serial.println(distanceCM);
    Serial.print("Distance IN: ");
    Serial.println(distanceIN);

    delay(100);
}

/* END CODE */