Linienfolger, langsam (ohne Gabellichtschranke)

#define LS 2      // left sensor

#define RS 7      // right sensor



/*-------definning Outputs------*/

#define LM1 4       // left motor   // motor 2

#define LM2 5       // left motor   // motor 1

#define RM1 6       // right motor  // motor 4

#define RM2 7       // right motor  // motor 3



int motor1 = 3;

int motor2 = 5;

int motor3 = 10;

int motor3 = 11;



void setup()

{

  pinMode(LS, INPUT);

  pinMode(RS, INPUT);

  pinMode(motor1, OUTPUT);

  pinMode(motor2, OUTPUT);

  pinMode(motor3, OUTPUT);

  pinMode(motor4, OUTPUT);

}



void loop()

{

  if(digitalRead(LS) && digitalRead(RS))     // Move Forward

  {

    analogWrite(motor1, 0);

    analogWrite(motor2, 25);

    analogWrite(motor3, 0),

    analogWrite(motor4, 25);

    delay(100); // Eine Sekunde Warten

  }



  if(digitalRead(LS) && !(digitalRead(RS)))     // Turn right

  {

    analogWrite(motor1, 0);

    analogWrite(motor2, 0);

    analogWrite(motor3, 0);

    analogWrite(motor4, 25);

    delay(100); // Eine Sekunde Warten

  }



  if(!(digitalRead(LS)) && digitalRead(RS))     // turn left

  {

    analogWrite(motor1, 0);

    analogWrite(motor2, 25);

    analogWrite(motor3, 0);

    analogWrite(motor4, 0);

    delay(100); // Eine Sekunde Warten

  }



  if(!(digitalRead(LS)) && !(digitalRead(RS)))     // stop

  {

    analogWrite(motor1, 0);

    analogWrite(motor2, 0);

    analogWrite(motor3, 0);

    analogWrite(motor4, 0);

    delay(100); // Eine Sekunde Warten

  }