write a sumo robot c program for an aduino board, using 2 motors. 2 phototransis

Question

write a sumo robot c program for an aduino board, using 2 motors. 2 phototransistors and 2 Led sensors( sensors 2 for the front and 2 for the back ) which are going to be responsible for keping the robot in the sumo ring, making sure the robot comes back into the ring when ever the sensors see the white boundry line.In addition add the code for 2 Sharp IR sensors(mounted to the front) which are going to be responsible for searching for the other robot by turning clockwise and driving towards it.

pseudocode:

Explanation / Answer

Sumo C Program for an arduino board with two motors

#include <Servo.h> //includes the servo library

int motor_pin1 = 4;
int motor_pin2 = 5;
int motor_pin3 = 6;
int motor_pin4 = 7;
int servopin = 8;
int sensorpin = 0;
int dist = 0;
int leftdist = 0;
int rightdist = 0;
int object = 500; //distance at which the robot should look for another route   

Servo myservo;

void setup ()
{
pinMode(motor_pin1,OUTPUT);
pinMode(motor_pin2,OUTPUT);
pinMode(motor_pin3,OUTPUT);
pinMode(motor_pin4,OUTPUT);
myservo.attach(servopin);
myservo.write(90);
delay(700);
}
void loop()
{
dist = analogRead(sensorpin); //reads the sensor

if(dist < object) { //if distance is less than 550
forward(); //then move forward
}
if(dist >= object) { //if distance is greater than or equal to 550
findroute();
}
}

void forward() { // use combination which works for you
digitalWrite(motor_pin1,HIGH);
digitalWrite(motor_pin2,LOW);
digitalWrite(motor_pin3,HIGH);
digitalWrite(motor_pin4,LOW);
return;
}

void findroute() {
halt(); // stop
backward(); //go backwards
lookleft(); //go to subroutine lookleft
lookright(); //go to subroutine lookright
  
if ( leftdist < rightdist )
{
turnleft();
}
else
{
turnright ();
}
}

void backward() {
digitalWrite(motor_pin1,LOW);
digitalWrite(motor_pin2,HIGH);
digitalWrite(motor_pin3,LOW);
digitalWrite(motor_pin4,HIGH);
delay(500);
halt();
return;
}

void halt () {
digitalWrite(motor_pin1,LOW);
digitalWrite(motor_pin2,LOW);
digitalWrite(motor_pin3,LOW);
digitalWrite(motor_pin4,LOW);
delay(500); //wait after stopping
return;
}

void lookleft() {
myservo.write(150);
delay(700); //wait for the servo to get there
leftdist = analogRead(sensorpin);
myservo.write(90);
delay(700); //wait for the servo to get there
return;
}

void lookright () {
myservo.write(30);
delay(700); //wait for the servo to get there
rightdist = analogRead(sensorpin);
myservo.write(90);
delay(700); //wait for the servo to get there
return;
}

void turnleft () {
digitalWrite(motor_pin1,HIGH); //use the combination which works for you
digitalWrite(motor_pin2,LOW); //right motor rotates forward and left motor backward
digitalWrite(motor_pin3,LOW);
digitalWrite(motor_pin4,HIGH);
delay(1000); // wait for the robot to make the turn
halt();
return;
}

void turnright () {
digitalWrite(motor_pin1,LOW); //use the combination which works for you
digitalWrite(motor_pin2,HIGH); //left motor rotates forward and right motor backward
digitalWrite(motor_pin3,HIGH);
digitalWrite(motor_pin4,LOW);
delay(1000); // wait for the robot to make the turn
halt();
return;
}

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