Line detection 4 sensors by kevindc927

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