LFR

#define REF 200
const int MotR_A = 3; // DC Motor1 Pole_A
const int MotR_B = 5; // DC Motor1 Pole_B
const int MotL_A = 6; // DC Motor2 Pole_A
const int MotL_B = 9; // DC Motor2 Pole_B
unsigned int Flag1,Flag2,Flag3,Flag4,Val;
void setup()
{
Serial.begin(9600);
pinMode(MotR_A, OUTPUT);
pinMode(MotR_B, OUTPUT);
pinMode(MotL_A, OUTPUT);
pinMode(MotL_B, OUTPUT);
}
void loop()
{
int sen1 = analogRead(A0);
int sen2 = analogRead(A1);
int sen3 = analogRead(A2);
int sen4 = analogRead(A3);
if (sen1>REF)
{ Flag1 = 1; }
else
{ Flag1 = 0; }
if (sen2>REF)
{ Flag2 = 1; }
else
{ Flag2 = 0; }
if (sen3>REF)
{ Flag3 = 1; }
else
{ Flag3 = 0; }
if (sen4>REF)
{ Flag4 = 1; }
else
{ Flag4 = 0; }
Val = (Flag1 | (Flag2<<1) | (Flag3<<2) | (Flag4<<3) );
Serial.print(Val);
Serial.println();
switch (Val)
{
case 0:
Robo_Right();
break;
case 1:
Robo_Left();
break;
case 3:
Robo_Left();
break;
case 6:
Robo_Front();
break;
case 7:
Robo_Left();
break;
case 8:
Robo_Right();
break;
case 12:
Robo_Right();
break;
case 14:
Robo_Right();
break;
case 15:
Robo_Front();
break;
default:
break;
}
}
void Robo_Front()
{
digitalWrite(MotR_A, LOW);
digitalWrite(MotR_B, HIGH);
digitalWrite(MotL_B, LOW);
digitalWrite(MotL_A, HIGH);
}
void Robo_Back()
{
digitalWrite(MotR_A, HIGH);
digitalWrite(MotR_B, LOW);
digitalWrite(MotL_B, HIGH);
digitalWrite(MotL_A, LOW);
}
void Robo_Right()
{
digitalWrite(MotR_A, HIGH);
digitalWrite(MotR_B, LOW);
digitalWrite(MotL_B, LOW);
digitalWrite(MotL_A, HIGH);
}
void Robo_Left()
{
digitalWrite(MotR_A, LOW);
digitalWrite(MotR_B, HIGH);
digitalWrite(MotL_B, HIGH);
digitalWrite(MotL_A, LOW);
}
void Robo_Stop()
{
digitalWrite(MotR_A, LOW);
digitalWrite(MotR_B, LOW);
digitalWrite(MotL_B, LOW);
digitalWrite(MotL_A, LOW);
}