Autonomous Arduino rev_01

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    - Project: Autonomous Arduino
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2026-01-07 09:29:09

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* suivre une ligne dessinée au sol tout en adaptant */
    /* sa vites en gardant une distance de sécurité avec */
    /* la voiture de devant a l'aides des capteur */
    /* ultrason pour adapté sa vitesse */
/****** END SYSTEM REQUIREMENTS *****/


/* START CODE */

// Include necessary libraries
#include <Ultrasonic.h>
#include <LineFollower.h>

// Define ultrasonic sensor pin
const int ultrasonPin = 7; // Pin for ultrasonic sensor
// Define Line Follower sensor pins
const int leftFollowSensorPin = 2;
const int rightFollowSensorPin = 3;

// Instantiate ultrasonic sensor object
Ultrasonic ultrasonicSensor(ultrasonPin);

// Variables for distance
unsigned int distance;

// Variables for line following
int leftSensorValue, rightSensorValue;

// Threshold for line detection (adjust based on calibration)
const int lineThreshold = 500;

// Motor control pins
const int motorLeftForward = 9;
const int motorLeftBackward = 10;
const int motorRightForward = 11;
const int motorRightBackward = 12;

// Initialization
void setup(void) {
  // Initialize serial communication
  Serial.begin(9600);
  // Setup sensor pins
  pinMode(ultrasonPin, INPUT);
  pinMode(leftFollowSensorPin, INPUT);
  pinMode(rightFollowSensorPin, INPUT);
  // Setup motor pins
  pinMode(motorLeftForward, OUTPUT);
  pinMode(motorLeftBackward, OUTPUT);
  pinMode(motorRightForward, OUTPUT);
  pinMode(motorRightBackward, OUTPUT);
}

// Main loop
void loop(void) {
  // Read distance from ultrasonic sensor
  distance = ultrasonicSensor.read();

  // Read line follower sensors
  leftSensorValue = analogRead(leftFollowSensorPin);
  rightSensorValue = analogRead(rightFollowSensorPin);

  // Debugging info
  Serial.print("Distance: "); Serial.print(distance); Serial.println(" units");
  Serial.print("Left Sensor: "); Serial.print(leftSensorValue);
  Serial.print(" Right Sensor: "); Serial.println(rightSensorValue);

  // Check safety distance
  if (distance > 0 && distance < 30) { // If object is within 30 units
    // Slow down or stop
    stopMotors();
    Serial.println("Obstacle detected! Stopping.");
  } else {
    // Follow line logic
    followLine();
  }
  delay(100); // Loop delay
}

// Function to follow line based on sensors
void followLine() {
  bool leftOnLine = leftSensorValue > lineThreshold;
  bool rightOnLine = rightSensorValue > lineThreshold;

  if (leftOnLine && rightOnLine) {
    // Move forward
    moveForward();
  } else if (leftOnLine && !rightOnLine) {
    // Turn right
    turnRight();
  } else if (!leftOnLine && rightOnLine) {
    // Turn left
    turnLeft();
  } else {
    // Search for line (e.g., rotate)
    turnRight();
  }
}

// Motor control functions
void moveForward() {
  digitalWrite(motorLeftForward, HIGH);
  digitalWrite(motorLeftBackward, LOW);
  digitalWrite(motorRightForward, HIGH);
  digitalWrite(motorRightBackward, LOW);
}

void turnLeft() {
  digitalWrite(motorLeftForward, LOW);
  digitalWrite(motorLeftBackward, HIGH);
  digitalWrite(motorRightForward, HIGH);
  digitalWrite(motorRightBackward, LOW);
}

void turnRight() {
  digitalWrite(motorLeftForward, HIGH);
  digitalWrite(motorLeftBackward, LOW);
  digitalWrite(motorRightForward, LOW);
  digitalWrite(motorRightBackward, HIGH);
}

void stopMotors() {
  digitalWrite(motorLeftForward, LOW);
  digitalWrite(motorLeftBackward, LOW);
  digitalWrite(motorRightForward, LOW);
  digitalWrite(motorRightBackward, LOW);
}

/* END CODE */