move.ino

/****************************************************************************************************************
 *    Program for a simple light Seeking Robot.
 *    created by: Anuj
 *    (c)copyright
 *
 *    Robotic base should include differential drive.
 *
 *    Physical setup:
 *    Two LDRs connected to ground and Analog pin 1(Right) and Analog pin 2(left)
 *    base of NPN Transistors on pins 11(right) and 12(left).
 *    
 *
 ******************************************************************************************************************/
#include <Wire.h>
#include <BH1750.h>
#include <Servo.h> 


BH1750 lightMeter;

int i = 0;
int flag; // 0 -> front , 1 -> left

// Create a servo object 
Servo Servo1; 
// Declare the Servo pin 
int servoPin = 9; 


const int RightMotorIN3 = 5;    // This pin is used to enable or disable the Right motor. Connected to the base of an NPN transistor.
const int RightMotorIN4 = 4;    // This pin is used to enable or disable the Right motor. Connected to the base of an NPN transistor.
const int LeftMotorIN1 = 7;     // This pin is used to enable or disable the Left motor. Connected to the base of an NPN transistor.
const int LeftMotorIN2 = 6;     // This pin is used to enable or disable the Left motor. Connected to the base of an NPN transistor.

const int FrontSensor = 11;
const int BackSensor = 8 ;


const int ENA = 10;
const int ENB = 3;



// Variable definitions
int degreeMax;
int maxLX;
int SensorDifference;   // This value is used to determine the difference between the Left and Right

// the setup() method runs once when the program is run. When the
// Arduino is reset, the setup() will be executed once again.

void setup()   { 

  analogWrite(ENA, 255);
  analogWrite(ENB, 255); 

   

  pinMode(LeftMotorIN1, OUTPUT);      // Defines this pin as an output. The Arduino will write values to this pin.
  pinMode(LeftMotorIN2, OUTPUT);      // Defines this pin as an output. The Arduino will write values to this pin.
  pinMode(RightMotorIN3, OUTPUT);     // Defines this pin as an output. The Arduino will write values to this pin.
  pinMode(RightMotorIN4, OUTPUT);     // Defines this pin as an output. The Arduino will write values to this pin.
  
                 
  //for bh1750
  pinMode(FrontSensor, OUTPUT);   // gy-front
  pinMode(BackSensor, OUTPUT);   // gy-back
 
  // We need to attach the servo to the used pin number 
  Servo1.attach(servoPin);
   
  pinMode(FrontSensor, INPUT);      // Defines this pin as an input.  The Arduino will read values from this pin.
  pinMode(BackSensor, INPUT);     // Defines this pin as an input.  The Arduino will read values from this pin.
  
  Serial.begin(9600);              // Enables a serial connection through the Arduino to either USB or UART (pins 0&1). Note that the baud rate is set to 9600
  Serial.println(" \nBeginning Light Seeking Behavior");   // Placed at the very end of void Setup() so that it is runs once, right before the void Loop()
  
  Serial.println(F("BH1750 Test begin"));

  // Initialize the I2C bus (BH1750 library doesn't do this automatically)
   Wire.begin();
  // On esp8266 you can select SCL and SDA pins using Wire.begin(D4, D3);
  //Wire.begin(D4, D3);
  //Uno, Ethernet  A4 (SDA), A5 (SCL)

  lightMeter.begin();
 

}

// the loop() method runs over and over again,
// as long as the Arduino has power

void loop()    {
    maxLX = 0 ; 
   for(int j = 0 ; j < 10 ; j++)
   {
      Servo1.write(j*18);
      delay(100);
      
      digitalWrite(FrontSensor, LOW);       // sets the digital_out_3 on -> front
      digitalWrite(BackSensor, HIGH);       // sets the digital_out_5 off -> back
       uint16_t luxb = lightMeter.readLightLevel();
       delay(200); 
         
      digitalWrite(FrontSensor, HIGH);       // sets the digital_out_3 on -> front
      digitalWrite(BackSensor, LOW);       // sets the digital_out_5 off -> back
      uint16_t luxf = lightMeter.readLightLevel();
      Serial.print("Light: ");
      Serial.print(luxf);
      Serial.println(" lx");
      Serial.print(luxb);
      Serial.println(" lx");
      Serial.println("now change...............");
      if(luxb > maxLX) 
      {
        maxLX = luxb;
        degreeMax = j*18;
        flag = 1;
        
      }
      if(luxf > maxLX) 
      {
        maxLX = luxf;
        degreeMax = j*18;
        flag = 0;
        
      }
      delay(1000);
   }
   if ( flag == 1 ) 
   {
    degreeMax = degreeMax + 180;
   }
  // This section of the sketch is what actually interperets the data and then runs the motors accordingly.

  if (degreeMax >= 90 &&  degreeMax <180 ) {    // This is interpreted as if the Left sensor reads more light than the Right Sensor, Do this:
    digitalWrite(RightMotorIN3, HIGH);                              // This is used to turn Left. Notice the 
    digitalWrite(RightMotorIN4, LOW); 
    
    digitalWrite(LeftMotorIN1, LOW);                                // opposite motor runs to turn Left.
    digitalWrite(LeftMotorIN2, HIGH); 
    

    
    Serial.println("Left");                                      // This prints Left when the robot would actually turn Left.
  }

  if (degreeMax <90) {    // This is interpreted as if the Left sensor reads less light than the Right Sensor, Do this:
    digitalWrite(RightMotorIN3, LOW);                               // This is used to turn Right. Notice the 
    digitalWrite(RightMotorIN4, HIGH);
    digitalWrite(LeftMotorIN1, HIGH);                               // opposite motor runs to turn Right.
    digitalWrite(LeftMotorIN2, LOW);      
    Serial.println("Right");                                     // This prints Right when the robot would actually turn Right.
  }

  else if (degreeMax == 90 ) {                                // This is interpreted as if the difference between the two sensors is under 125 (Experiment to suit our sensors), Do this:
    digitalWrite(RightMotorIN3, HIGH);    
    digitalWrite(RightMotorIN4, LOW);      // This is used to go straight. Notice
    digitalWrite(LeftMotorIN1, HIGH);  
     digitalWrite(LeftMotorIN2, LOW);  // both motors are enabled to go forward.
    Serial.println("Forward");                                   // This prints Forward when the robot would actually go forward.
  }
  Serial.print("\n");
}