Arduino Adafruit Motor Shield Line Detector for Car by ranchc

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This is a line following robot car using Adafruit motor shield and 4 line detecting sensors. Motor speed ranges between 0 to 255 rpm. Sensors are set in the following format in the front of the car: rightBackgroundDetector | rightMiddleLineDetector | leftMiddleLineDetector | leftBackgroundDetector This code will assume you are starting on a white background with black line; then moving into black background with white line; and when it reach to the end with all white strip it will stop. You can set the following variables: - MAX_SPEED 107 //Maximum speed of motor - MIN_SPEED 0 //Minimum speed of motor - TURN_SPEED 97 //Turning speed of motor - THRESHOLD 500 //Threshold to detect the line sensor, greater than 500 means it detected black line. - bg_right A5 //Port for right background detector - ir_right A3 //port for middle right line detector - ir_left A2 //port for middle left line detector - bg_left A0 //port for left background detector