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- #include <stdio.h>
- int motorl = 9; //Motor Links Vorwärts
- int motorr = 3; //Motor Rechts Vorwärts
- int motorlr = 6; //Motor links Rückwärts
- int motorrr = 5; //Motor Rechts Rückwärts
- int sensorl = A2; //Sensorwert
- int sensorr = A1; //Sensorwert
- int forward = 190; //Geschwindigkeit
- int turn = 150; //Geschwindigkeit
- int mit = 100; //mit Drehgeschwindigkeit
- int low = 0;
- int back = 140;
- int full = 255;
- int forw = 120;
- void setup() {
- // put your setup code here, to run once:
- pinMode(motorl, OUTPUT);
- pinMode(motorr, OUTPUT);
- pinMode(motorlr, OUTPUT);
- pinMode(motorrr, OUTPUT);
- pinMode(sensorl, INPUT);
- pinMode(sensorr, INPUT);
- }
- void loop() {
- // put your main code here, to run repeatedly:
- int helligkeitl = analogRead(sensorl);
- int helligkeitr = analogRead(sensorr);
- if ((helligkeitl >1000 && helligkeitr >1000) && (!helligkeitl <100 && !helligkeitr <100))
- {
- analogWrite(motorl, low);
- analogWrite(motorr, low);
- analogWrite(motorlr, back);
- analogWrite(motorrr, back);
- delay(850);
- }else if((helligkeitl <750 && helligkeitl <=1000) && (helligkeitr <750 && helligkeitr <=1000))
- {
- analogWrite(motorl, forward);
- analogWrite(motorr, forward);
- analogWrite(motorlr, low);
- analogWrite(motorrr, low);
- delay(1);
- }
- if((helligkeitl <800 && helligkeitl <=990) && (helligkeitr >800 && helligkeitr <=990))
- {
- analogWrite(motorl, forw);
- analogWrite(motorr, mit);
- analogWrite(motorlr, low);
- analogWrite(motorrr, low);
- delay(25);
- analogWrite(motorl, mit);
- analogWrite(motorr, low);
- analogWrite(motorlr, low);
- analogWrite(motorrr, back);
- delay(80);
- analogWrite(motorl, turn);
- analogWrite(motorr, low);
- analogWrite(motorlr, low);
- analogWrite(motorrr, turn);
- delay(150);
- }
- if((helligkeitl >800 && helligkeitl <=990) && (helligkeitr <800 && helligkeitr <=990))
- {
- analogWrite(motorl, mit);
- analogWrite(motorr, forw);
- analogWrite(motorlr, low);
- analogWrite(motorrr, low);
- delay(25);
- analogWrite(motorl, low);
- analogWrite(motorr, mit);
- analogWrite(motorlr, back);
- analogWrite(motorrr, low);
- delay(80);
- analogWrite(motorl, low);
- analogWrite(motorr, turn);
- analogWrite(motorlr, turn);
- analogWrite(motorrr, low);
- delay(150);
- }
- if((helligkeitl <990 && helligkeitr <990) && (helligkeitl > 700 && helligkeitr > 700) && (helligkeitl > helligkeitr))
- {
- analogWrite(motorl, low); //originalwerte helligkeit 980 ; 800
- analogWrite(motorr, low);
- analogWrite(motorlr, low);
- analogWrite(motorrr, low);
- delay(1000);
- analogWrite(motorl, low);
- analogWrite(motorr, turn);
- analogWrite(motorlr, turn);
- analogWrite(motorrr, low);
- delay(350);
- }
- if((helligkeitl <980 && helligkeitr <980) && (helligkeitl > 800 && helligkeitr > 800) && (helligkeitl < helligkeitr))
- {
- analogWrite(motorl, low);
- analogWrite(motorr, low);
- analogWrite(motorlr, low);
- analogWrite(motorrr, low);
- delay(1000);
- analogWrite(motorl, turn);
- analogWrite(motorr, low);
- analogWrite(motorlr, low);
- analogWrite(motorrr, turn);
- delay(350);
- }
- if(helligkeitl >1000)
- {
- analogWrite(motorl, low);
- analogWrite(motorr, low);
- analogWrite(motorlr, full);
- analogWrite(motorrr, low);
- delay(150);
- analogWrite(motorl, low);
- analogWrite(motorr, low);
- analogWrite(motorlr, back);
- analogWrite(motorrr, back);
- delay(50);
- }
- if(helligkeitr >1000)
- {
- analogWrite(motorl, low);
- analogWrite(motorr, low);
- analogWrite(motorlr, low);
- analogWrite(motorrr, full);
- delay(150);
- analogWrite(motorl, low);
- analogWrite(motorr, low);
- analogWrite(motorlr, back);
- analogWrite(motorrr, back);
- delay(50);
- }
- }
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