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Maze_Solver.ino
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Maze_Solver.ino
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// Motors Pins
int Motor_Right1=6;
int Motor_Right2=7;
int Motor_Left1=8;
int Motor_Left2=9;
void setup() {
pinMode(6,OUTPUT);
pinMode(7,OUTPUT);
pinMode(8,OUTPUT);
pinMode(9,OUTPUT);
// pinMode(11,INPUT);
// pinMode(12,OUTPUT);
Serial.begin(9600);
}
void loop() {
int F=Distance(2,3);
int R=Distance(4,5);
int L=Distance(11,12);
if(F>5 && R<5 && L<5){
go_forward();
}
if(F>5 && R>5 && L>5){
turn_left();
delay(100);
}
if(F>5 && R>5 && L<5){
go_forward();
}
if(F>5 && R<5 && L>5){
turn_left();
delay(100);
}
if(F<5 && R<5 && L<5){
turn_left();
delay(200);
}
if(F<5 && R>5 && L>5){
turn_left();
delay(100);
}
if(F<5 && R>5 && L<5){
turn_right();
delay(100);
}
if(F<5 && R<5 && L>5){
turn_left();
delay(100);
}
}
int Distance(int echo , int triger){
pinMode(echo,INPUT);
pinMode(triger,OUTPUT);
Serial.read();
digitalWrite(triger,LOW);
delay(10);
digitalWrite(triger,HIGH);
delay(10);
digitalWrite(triger,LOW);
int duration=pulseIn(echo,HIGH);
int distance=duration/58.8;
delay(100);
return distance;
}
void go_forward(){
digitalWrite(6,HIGH);
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
digitalWrite(9,LOW);
}
void go_back(){
digitalWrite(6,LOW);
digitalWrite(7,HIGH);
digitalWrite(8,LOW);
digitalWrite(9,HIGH);
}
void turn_left(){
digitalWrite(6,HIGH);
digitalWrite(7,LOW);
digitalWrite(8,LOW);
digitalWrite(9,HIGH);
}
void turn_right(){
digitalWrite(6,LOW);
digitalWrite(7,HIGH);
digitalWrite(8,HIGH);
digitalWrite(9,LOW);
}