Source Code Line Follower V.1 (SMAN 4 PKU XII)

// Definisi pin sensor infrared
#define IR_SENSOR_BACK_RIGHT A0   //SENSOR KANAN LUAR
#define IR_SENSOR_FRONT_RIGHT A1   //SENSOR KANAN DALAM
#define IR_SENSOR_FRONT_LEFT  A2   //SENSOR KIRI DALAM
#define IR_SENSOR_BACK_LEFT A3     //SENSOR KIRI LUAR

// Definisi pin motor driver L298N
#define MOTOR_LEFT_PIN1 4
#define MOTOR_LEFT_PIN2 5
#define MOTOR_RIGHT_PIN1 6
#define MOTOR_RIGHT_PIN2 7
#define MOTOR_ENABLE_LEFT 3
#define MOTOR_ENABLE_RIGHT 9

// Kecepatan motor untuk setiap kondisi logika (0-255)
#define SPEED_TURN 80  //Belok Biasa
#define FULLSPEED_TURN 80 //Belok Tajam
#define SPEED_DEFAULT 60 //Kecepatan Dasar


void setup() {
  // Inisialisasi pin sensor sebagai input
  pinMode(IR_SENSOR_FRONT_LEFT, INPUT);
  pinMode(IR_SENSOR_FRONT_RIGHT, INPUT);
  pinMode(IR_SENSOR_BACK_LEFT, INPUT);
  pinMode(IR_SENSOR_BACK_RIGHT, INPUT);

  // Inisialisasi pin motor driver sebagai output
  pinMode(MOTOR_LEFT_PIN1, OUTPUT);
  pinMode(MOTOR_LEFT_PIN2, OUTPUT);
  pinMode(MOTOR_RIGHT_PIN1, OUTPUT);
  pinMode(MOTOR_RIGHT_PIN2, OUTPUT);
  pinMode(MOTOR_ENABLE_LEFT, OUTPUT);
  pinMode(MOTOR_ENABLE_RIGHT, OUTPUT);

  // Atur kecepatan awal motor
  analogWrite(MOTOR_ENABLE_LEFT, SPEED_DEFAULT);
  analogWrite(MOTOR_ENABLE_RIGHT, SPEED_DEFAULT);
}

void loop() {
  int frontLeft = digitalRead(IR_SENSOR_FRONT_LEFT);
  int frontRight = digitalRead(IR_SENSOR_FRONT_RIGHT);
  int backLeft = digitalRead(IR_SENSOR_BACK_LEFT);
  int backRight = digitalRead(IR_SENSOR_BACK_RIGHT);
  if(backLeft == HIGH && frontLeft == HIGH && frontRight == HIGH && backRight == HIGH){
    //Berhenti
    digitalWrite(MOTOR_LEFT_PIN1, LOW);
    digitalWrite(MOTOR_LEFT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_LEFT, SPEED_DEFAULT);
    digitalWrite(MOTOR_RIGHT_PIN1, LOW);
    digitalWrite(MOTOR_RIGHT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_RIGHT, SPEED_DEFAULT);
    delay(5000);
  }else if(backLeft == HIGH && frontLeft == LOW && frontRight == LOW && backRight == LOW){
    //Belok Kiri Tajam
    digitalWrite(MOTOR_LEFT_PIN1, LOW);
    digitalWrite(MOTOR_LEFT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_LEFT, FULLSPEED_TURN);
    digitalWrite(MOTOR_RIGHT_PIN1, HIGH);
    digitalWrite(MOTOR_RIGHT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_RIGHT, FULLSPEED_TURN);
  }else if(backLeft == HIGH && frontLeft == HIGH && frontRight == LOW && backRight == LOW){
    //Belok Kiri Tajam
    digitalWrite(MOTOR_LEFT_PIN1, LOW);
    digitalWrite(MOTOR_LEFT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_LEFT, FULLSPEED_TURN);
    digitalWrite(MOTOR_RIGHT_PIN1, HIGH);
    digitalWrite(MOTOR_RIGHT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_RIGHT, FULLSPEED_TURN);
  }else if(backLeft == LOW && frontLeft == HIGH && frontRight == LOW && backRight == LOW){
    //Belok Kiri
    digitalWrite(MOTOR_LEFT_PIN1, LOW);
    digitalWrite(MOTOR_LEFT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_LEFT, SPEED_TURN);
    digitalWrite(MOTOR_RIGHT_PIN1, HIGH);
    digitalWrite(MOTOR_RIGHT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_RIGHT, SPEED_TURN);
  }else if(backLeft == LOW && frontLeft == LOW && frontRight == HIGH && backRight == LOW){
    //Belok Kanan
    digitalWrite(MOTOR_LEFT_PIN1, HIGH);
    digitalWrite(MOTOR_LEFT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_LEFT, SPEED_TURN);
    digitalWrite(MOTOR_RIGHT_PIN1, LOW);
    digitalWrite(MOTOR_RIGHT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_RIGHT, SPEED_TURN);
  }else if(backLeft == LOW && frontLeft == LOW && frontRight == HIGH && backRight == HIGH){
    //Belok Kanan Tajam
    digitalWrite(MOTOR_LEFT_PIN1, HIGH);
    digitalWrite(MOTOR_LEFT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_LEFT, FULLSPEED_TURN);
    digitalWrite(MOTOR_RIGHT_PIN1, LOW);
    digitalWrite(MOTOR_RIGHT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_RIGHT, FULLSPEED_TURN);
  }else if(backLeft == LOW && frontLeft == LOW && frontRight == LOW && backRight == HIGH){
    //Belok Kanan Tajam
    digitalWrite(MOTOR_LEFT_PIN1, HIGH);
    digitalWrite(MOTOR_LEFT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_LEFT, FULLSPEED_TURN);
    digitalWrite(MOTOR_RIGHT_PIN1, LOW);
    digitalWrite(MOTOR_RIGHT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_RIGHT, FULLSPEED_TURN);
  }else{
    //Maju
    digitalWrite(MOTOR_LEFT_PIN1, HIGH);
    digitalWrite(MOTOR_LEFT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_LEFT, SPEED_DEFAULT);
    digitalWrite(MOTOR_RIGHT_PIN1, HIGH);
    digitalWrite(MOTOR_RIGHT_PIN2, LOW);
    analogWrite(MOTOR_ENABLE_RIGHT, SPEED_DEFAULT);
  }
}