MAKING LINE FOLLOWER.PLS SOMEONE HELP ME! :(

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been doing project days , problem line follower robot cannot follow line when takes turn left/right. im using adafruit motor shield, 2 tcrt5000 sensors, , 4wd smart car chassis. don't know anymore been calibrating days , need help.
i made 2 type of program 1 robot following black line , 1 robot following white surface.

line follower reading black line
code: [select]
#include <afmotor.h>

af_dcmotor motorr1(1); //motor front-right
af_dcmotor motorr2(2); //motor back-right
af_dcmotor motorl1(3); //motor front-left
af_dcmotor motorl2(4); //motor back-left
/*------ program line follower robot using arduino----- */
/*-------definning inputs------*/
#define ls 53      // left sensor. digitalreading output
#define rs 52      // right sensor. digitalreading output
/*-------definning outputs------*/

int tcrt1pin = a14;// analogreading
int tcrt2pin = a15;// analogreading
void setup()
{
  serial.begin(9600);
  pinmode(ls, input); // digitalreading left sensor
  pinmode(rs, input);// digitalreading right sensor
 
}
void loop()
{
  int tcrt1 = analogread(tcrt1pin); //sensor tcrt1
  int tcrt2 = analogread(tcrt2pin); //sensor tcrt2
  analogwrite(52,tcrt1/4); //sensor tcrt1
  analogwrite(53,tcrt2/4); //sensor tcrt2

  serial.println(tcrt1);
  serial.println(tcrt2);
 
  if(digitalread(ls) && digitalread(rs))     // move forward
  {
    forward();//forward direction
  }
 
  if(!(digitalread(ls)) && digitalread(rs))     // turn right
  {
    turnright();  //turn right direction
  }
 
  if(digitalread(ls) && !(digitalread(rs)))     // turn left
  {
    turnleft();//turn left direction
  }
 
  if(!(digitalread(ls)) && !(digitalread(rs)))     // stop
  {
    motorstop();
  }
  delay(150);
}
void forward()
{
  motorr1.setspeed(100);
  motorr2.setspeed(100);
  motorl1.setspeed(100);
  motorl2.setspeed(100);

  motorr1.run(forward);
  motorr2.run(forward);
  motorl1.run(forward);
  motorl2.run(forward);
  digitalwrite(51,high);
  digitalwrite(31,high);
  delay(100);
}
void turnright()
{             
  motorr1.setspeed(250);
  motorr2.setspeed(0);
  motorl1.setspeed(0);
  motorl2.setspeed(250);

  motorr1.run(forward); ////// tcrt1 sensing black color.output high.//////
  motorr2.run(release); //////////////////////////////////////////////////////
  motorl1.run(release);
  motorl2.run(forward);
  digitalwrite(31,high);
  delay(100);
}
void turnleft()
{
  motorr1.setspeed(0);
  motorr2.setspeed(250);
  motorl1.setspeed(250);
  motorl2.setspeed(0);

  motorr1.run(release);
  motorr2.run(forward);
  motorl1.run(forward);
  motorl2.run(release);
  digitalwrite(51,high);
  delay(100);
}

void motorstop()
{
  motorr1.run(release);
  motorr2.run(release);
  motorl1.run(release);
  motorl2.run(release);
  delay(0);
  digitalwrite(51,low);
  digitalwrite(31,low);
}




line follower reading white background
code: [select]
#include <afmotor.h>

af_dcmotor motorr1(1); //motor front-right
af_dcmotor motorr2(2); //motor back-right
af_dcmotor motorl1(3); //motor front-left
af_dcmotor motorl2(4); //motor back-left

int tcrt1pin = a14; //analogreading
int tcrt2pin = a15; //analogreading

void setup()
{
  delay(2000); 
  serial.begin(9600);
  pinmode(52,input); //sensor tcrt1 output pin. digitalreading
  pinmode(53,input); //sensor tcrt2 output pin. digitalreading
  pinmode(51,output); //blue led output pin
  pinmode(31,output); //red led output pin



}

void loop()
{
  int tcrt1 = analogread(tcrt1pin); //sensor tcrt1.analogreading
  int tcrt2 = analogread(tcrt2pin); //sensor tcrt2.analogreading
  analogwrite(52,tcrt1/4); //sensor tcrt1 .analogreading
  analogwrite(53,tcrt2/4); //sensor tcrt2 .analogreading

  serial.println(tcrt1);
  serial.println(tcrt2);

  if ((tcrt1<=500)&&(tcrt2<=500))
  {
    forward();//forward direction
  }

  if ((tcrt1>=500)&&(tcrt2<=500))
  {
    turnright();  //turn right direction
   
  }

  if ((tcrt1<=500)&&(tcrt2>=500))
  {
    turnleft();//turn left direction
  }

  else if((tcrt1>=500)&&(tcrt2>=500))
  {
    motorstop();
  }

  delay(150);
}

void forward()
{
  motorr1.setspeed(100);
  motorr2.setspeed(100);
  motorl1.setspeed(100);
  motorl2.setspeed(100);

  motorr1.run(forward);
  motorr2.run(forward);
  motorl1.run(forward);
  motorl2.run(forward);
  digitalwrite(51,high); //led
  digitalwrite(31,high); //led
  delay(100);
}

void turnright()
{             
  motorr1.setspeed(200);
  motorr2.setspeed(0);
  motorl1.setspeed(0);
  motorl2.setspeed(200);

  motorr1.run(forward); ////// tcrt1 sensing black color.output high.//////
  motorr2.run(release); //////////////////////////////////////////////////////
  motorl1.run(release);
  motorl2.run(forward);
  digitalwrite(31,high); //led
  delay(100);
}

void turnleft()
{
  motorr1.setspeed(0);
  motorr2.setspeed(200);
  motorl1.setspeed(200);
  motorl2.setspeed(0);

  motorr1.run(release);
  motorr2.run(forward);
  motorl1.run(forward);
  motorl2.run(release);
  digitalwrite(51,high); //led
  delay(100);
}

void motorstop()
{
  motorr1.run(release);
  motorr2.run(release);
  motorl1.run(release);
  motorl2.run(release);
  delay(0);
  digitalwrite(51,low);
  digitalwrite(31,low);
}

quote from: killian13th on dec 27, 2016, 12:28 pm
my line follower robot cannot follow line when takes turn left/right.
it helpful if provided more details on problem.

unless code longer forum allow please post using code tags(</> button on toolbar) this:
line follower black line
code: [select]
#include <afmotor.h>

af_dcmotor motorr1(1); //motor front-right
af_dcmotor motorr2(2); //motor back-right
af_dcmotor motorl1(3); //motor front-left
af_dcmotor motorl2(4); //motor back-left
/*------ program line follower robot using arduino----- */
/*-------definning inputs------*/
#define ls 53      // left sensor
#define rs 52      // right sensor
/*-------definning outputs------*/

int tcrt1pin = a14;
int tcrt2pin = a15;
void setup()
{
  serial.begin(9600);
  pinmode(ls, input);
  pinmode(rs, input);
 
}
void loop()
{
  int tcrt1 = analogread(tcrt1pin); //sensor tcrt1
  int tcrt2 = analogread(tcrt2pin); //sensor tcrt2
  analogwrite(52,tcrt1/4); //sensor tcrt1
  analogwrite(53,tcrt2/4); //sensor tcrt2

  serial.println(tcrt1);
  serial.println(tcrt2);
 
  if(digitalread(ls) && digitalread(rs))     // move forward
  {
    forward();//forward direction
  }
 
  if(!(digitalread(ls)) && digitalread(rs))     // turn right
  {
    turnright();  //turn right direction
  }
 
  if(digitalread(ls) && !(digitalread(rs)))     // turn left
  {
    turnleft();//turn left direction
  }
 
  if(!(digitalread(ls)) && !(digitalread(rs)))     // stop
  {
    motorstop();
  }
  delay(150);
}
void forward()
{
  motorr1.setspeed(100);
  motorr2.setspeed(100);
  motorl1.setspeed(100);
  motorl2.setspeed(100);

  motorr1.run(forward);
  motorr2.run(forward);
  motorl1.run(forward);
  motorl2.run(forward);
  digitalwrite(51,high);
  digitalwrite(31,high);
  delay(100);
}
void turnright()
{             
  motorr1.setspeed(250);
  motorr2.setspeed(0);
  motorl1.setspeed(0);
  motorl2.setspeed(250);

  motorr1.run(forward); ////// tcrt1 sensing black color.output high.//////
  motorr2.run(release); //////////////////////////////////////////////////////
  motorl1.run(release);
  motorl2.run(forward);
  digitalwrite(31,high);
  delay(100);
}
void turnleft()
{
  motorr1.setspeed(0);
  motorr2.setspeed(250);
  motorl1.setspeed(250);
  motorl2.setspeed(0);

  motorr1.run(release);
  motorr2.run(forward);
  motorl1.run(forward);
  motorl2.run(release);
  digitalwrite(51,high);
  delay(100);
}

void motorstop()
{
  motorr1.run(release);
  motorr2.run(release);
  motorl1.run(release);
  motorl2.run(release);
  delay(0);
  digitalwrite(51,low);
  digitalwrite(31,low);
}


what's purpose of this:
code: [select]
  analogwrite(52,tcrt1/4); //sensor tcrt1
  analogwrite(53,tcrt2/4); //sensor tcrt2

are ir leds on tcrt5000 sensors?

you have code:
code: [select]
#define ls 53      // left sensor
#define rs 52      // right sensor
/*-------definning outputs------*/

int tcrt1pin = a14;
int tcrt2pin = a15;
first off, i'd recommend making code more consistent. #defining pins , making others ints makes code more confusing necessary. i'd use const byte of them. second don't use ls , rs definitions:
code: [select]
  analogwrite(52,tcrt1/4); //sensor tcrt1
  analogwrite(53,tcrt2/4); //sensor tcrt2

why set ls , rs inputs:
code: [select]
  pinmode(ls, input);
  pinmode(rs, input);
and use them outputs in code:
code: [select]
  analogwrite(52,tcrt1/4); //sensor tcrt1
  analogwrite(53,tcrt2/4); //sensor tcrt2

what's on pins 51 , 31:
code: [select]
  digitalwrite(51,high);
  digitalwrite(31,high);
why didn't set pins outputs?


Arduino Forum > Using Arduino > Project Guidance > MAKING LINE FOLLOWER.PLS SOMEONE HELP ME! :(


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