Final Lab, Arduino Robot Challenge

Wentworth Institute of Technology
ELEC2950-02 Embedded Computer Systems
Professor Marpaung:
Final Exam Arduino-Robot Lab
2 December 2016
Lab Group:
James Smith, Carlfred Malcolm

Section1: Objectives
Usingan Arduino,teamsof twoare taskedwithprogrammingarobot that can navigate a tape
playing-field,picturedbelow, inordertoeitherknockdowna numberof waterbottles,orhuntdown
the opposingteamsrobot.Thisisto be accomplishedusinganumberof sensors,including ultrasonic
and infraredsensors.A whisker,orlance,maybe employedinthe knockingdownthe waterbottles,
requiringamajoritytobe knockeddownbythe victoriousteam.Likewise,the whiskermaybe employed
inhuntingdownthe opposingteams’robots. Huntingdownarobotrequiresthe robotor lance to make
contact witheitherthe backor the sidesof the opposingrobot,the frontof the robotis notvulnerable
to such attacks.These robotsare pittedagainstone another,inordertodiscover whose programwas
mostsuccessful incompletingthe statedobjectives.Thiscompetitionwillbe organized intoasetof
brackets.
Playing-Field Design
Section2: Flowchart Descriptionof Code
Overall Flowchart

Picturedabove isa simplifiedview of how the code we producedoperates.Whatoccursis,upon
beginningthe code,infraredsensorsare readfromthe bottomof the robot, relaying information
regardingthe colorvalue of the material underneaththe robot.Fromthese values,itcanbe attained
howthe robot musttravel in orderto follow the blacktape linesof the playing-field;adjustingto
continue onthe line,orcontinuingstraight.Thisinformation alsotellsuswhetherornotthe robothas
reachedan intersectioninthe tape path.Withthisinformation,the robotproceedstocompletea
specifiedtaskinorderto fulfillthe objectivesof the lab.This includes,butisnotlimitedto, turningleft
at a four-wayor‘T’ intersection,decidingtoturnright or continue straight,ordecidingwhethertoturn
leftor continue straight.Uponthe completionof anyof these tasks,includingthe tasksrequiredto
followthe line,the code returnstothe beginningof the voidloop,inordertoscan the infraredsensors
once again to receive uptodate informationaboutwhere onthe course the robotlies.
In-Depth Flowchart

In more detail,the code begins; proceedstoreadinfraredsensorsonthe bottomof the robot,
of whichthere are five.Thisinformationis thenrelayedbacktothe Arduino,where these longvalues
are roundedintoBooleanvalues,inordertomake themmore easilyusable.Withthisinformation,we
can tell where onthe line the robotlies,forexample if the robothasdriftedtothe rightof the line,then
the sensorsmayread that the centerand rightsensorsare on the black line,while the restof the
sensorsremainabove the white playingfield.Withthisinformation,the robotentersanif statement
that slowsdownthe opposite motorinordertoallow the robotto readjust,centeringthe robotonce
again.
The information gatheredbythe infraredsensors alsotellsuswhen the robothasenteredan
intersection,readingall blacksduringafour-wayor‘T’intersectionforexample.Usingthisinformation,
the type of intersection canbe conceived,allowingthe code toenterspecificif statements.If the robot
detectsthatit has enteredafour-wayor‘T’ intersection,thenthe robotentersanif statement,witha
for loopinorderto move the forwardslightly,becoming perpendiculartothe turn itis aboutto
navigate;enteringanotherforloopthatspinsthe robotroughly90o
to the left.Whenthe robotenters
an intersectionforastraightor rightturn, theninitiallythe robotproceedsstraight.However,the robot
thenaddsa unitof 1 to a counterfor these typesof intersectionswhichforcesthe robottotake a right
wheneveritencounters anotherintersectionof thistype.Whenthe sensorstell usthatthe robothas
enteredaleftor straightintersection,itwillinitiallyturnleft.Aftercompletingthisleft,avalue of 1 is
addedto anotherseparate counter,forcingthe robottotravel straight duringthe itsnextencounter.
Once the robot has traveledstraightthroughthisintersection,avalue of 1 issubtractedfrom this
counter, allowingthe robottoturnleftduringthe nextintersectionof thistype.Afteranyof these
commandshave beencompleted,the code returnstothe beginning,where itonce againscansthe
infraredsensors,and relaystothe robothow to furtherproceed.
Section3: Explanation ofCode
Thisrobot reliesonanarray of five infraredsensorsinordertonavigate a tape playing-field,
picturedabove insection1.These infraredsensorstell the robotwhere itisinrelationtothe linesof the
playingfield,andisorganizedusingif statementstodecide how the enginesshouldmove.Inthe act of
followingthese playing-fieldlines,the infraredsensorstell the robotwhere itisonthe playing-field,
allowingthe programmingof the motorstoreact differently dependingonthe binarycombinationof
these infraredsensors.Whenthe robothasdriftedrightorleft,the oppositemotoris slowedslightlyin
orderto compensate forthis,andrecenterthe roboton the playing-fieldlines.These line following
statementsonlyoccurduringtimesof none totwo sensorsregisteringablackline beneathit.Thisallows
the robot to distinguishwhenitissimplyreadjustingtothe line,comparedtowhenitentersan
intersection.
Whena robot entersandintersection,the infraredsensorswillidentifythatthe entiretyof one
side of the array is readinga blackline,withatleastthe far,opposite side sensorseeingthe white
playingfield,orboththe far side sensorandthe sensorjustopposite the side of the intersection.What
thismeansisthat, forexample,whenanintersectiononthe rightoccurs,eitheronlythe farleftsensor
will detectthe white playingfield,orboththe leftandfar leftsensorwill.Itwasalsoclearwhena four-
wayor ‘T’intersectionwasreached,becausebothof the outside sensorswoulddetectablacktape line.
Upon enteringthese if statements,forloopsare employedinordertodirectthe robotto complete tasks
that we dictate itto do. These include turningleftduringafour-wayor‘T’intersection,alternating

betweenturningleftandproceedingstraightduringaleftside intersection,orrunningstraightforthe
firstrightintersection,andturningrightduringthe restof them.
The goal of these intersectioncommandswastoknock overthe water bottle objectivesas
quicklyandconsistentlyaspossible.Inordertocomplete thisgoal,these intersectionswere strategically
coded.The firstintersectionwasarightsidedintersection,whichthe robotcontinuedstraightthrough.
The nextwas alsoa right sidedintersection,whichthe robotturnedrightandproceededtowardthe
centerbottle.Uponhittingthe bottle,the robotenteredafour-wayintersection,whichitturnedleft
and proceededtothe topof the playingfield. Thisledthe robottoa ‘T’ intersection,whichforcedthe
robot to once againturn leftandproceedtothe bottle directlyinfrontof it,duringthe startof the
competition.Afterhittingthisbottle,the robotturnsleftandbeginsalternatingbetweenstraight and
leftacrossthe remainingleftsidedintersections.Thisallowedthe robottobegincircumnavigatingthe
playing-field,keepingitfromreenteringthe middleof the field,andeventuallyreachingthe thirdbottle.
Section4: Process and Creationof Code
The developmentof thiscode wasnota linearpathbetweenbeginningtoend.Originally,for
aroundthree weeks,the objective of the labandthe progressionof the code reliedonsolvingamaze
designedintape,whichcontainedafewobstaclesinorderto maintainasense of randomnessand
chaos.This employedthe use of infraredsensors,aswell asanultrasonicsensorwhichwasable to
detectthe distance of an obstacle infrontof it usingsonartechnology.Astime continued,we beganto
fleshoutthe workingsof bothtypesof sensors,aswell asan algorithmtocomplete amaze as quicklyas
possible,usingideasfromthe Trémaux'salgorithm inordertomark intersectionsthe robothas
previouslyvisitedinordertofindthe exitquicklyaswell asavoid travelingthroughthe same
intersectiontwice unlessthere werenootheroptionspresent. Thisalgorithmwasscrappeduponthe
redefiningof the labobjectives,changingthe goal of the labfromcompletingamaze,toknockingover
bottlesina 2x2 square tile playingfield.
Initially,muchof the time wasspenttweakingthe robotinorderto have enoughinformationto
complete the course asquicklyaspossible.Thisrequiredaddingmore sensorstothe robot,addingtwo
more sensorsto the bottomof the robot;the array now includesfiveinfraredsensorsascomparedto
the original three.A photovoltaicsensorwasalsoaddedtothe frontof the robot inorderto distinguish
whenan intersectionwasacorner of the playingfield,orwhenthe intersectionalsocontainedthe
optionforthe robot to continue straight.The use of thisphotovoltaicsensorswasdumpedwhen
consistencyof the readingvaluesbecameaproblemdue toshadowsit,amongotherthings,cast below
thissensor,causingitto reada blackline beingthere regardlessof whetheritwasthere ornot. The
ultrasonicsensorwasalsoplacedoutof commissionwhenthe robotnolongerneededtodetect
whetherornot an obstacle stoodinitspath,and the objectiveswhereknownpriortothe start of the
competition.
Aftersuccessfullygettingthe sensorstoworkfairlyconsistentlyintandemwithone another,we
beganto attemptto getthe robot to follow ablackline,experimentingwithmanystilesof loopsand
statements.Startingwithwhile loops,whichseemedlikeanobviouschoice atthe time,buthavinglittle
successwithoutlarge amountsorredundancy,readingthe sensorswithinmostloopsinorderto exitthe
currentwhile loopandenteranother.Thismethodwastoyedwithforalong time,makingprogressand
minorbreakthroughs,butafteralong time withslow progress,the entire code wasscrappedandbegun
againwithif statements.Thisallowedforthe readingof the sensorstooccur initiallyinthe code,andbe

returnedtouponthe completionof the if statement.Duringtesting,anelse statementwaspresentin
orderto detectwhenthe robotenteredanarea,or receivedacombinationof sensorreadingsthatit
had no combinationfor.Thiselse statementcausedthe robotprintthe phrase “Error!”, inorder to mark
the combinationthatwaspreviouslyunaccountedfor,andspinina circle inplace until the robotwas
shutoff.Thisstrategyallowedforthe fleshingoutof all possible combinationsinordertofollow aline
veryrobustly,andwas testedunderconsiderablyroughcircumstances.
Afterthe robotcouldaccuratelyand consistentlyfollow aline,astrategywasfleshedoutasto
howthe robot was intendedtoproceedinordertoknockdownall three bottlesasquicklyaswe found
possible.Usingcombinationsof binaryinputs,we were abletogothroughall possible combinationsof
sensorreadings,from0.0.0.0.0 to 1.1.1.1.1, decidingwhateachcombinationwouldmeantothe robot,
and whatcombinationswere unlikelyorimpossible tooccur underthese circumstances.Forloopswere
usedinorderto have the robotreact to the intersectionsconsistently,requiringonlytweakingtoallow
the robot to turn 90o
, as well asfall centeredonthe nextline andcontinue straight.The elsestatement
remained,allowingustoinclude combinationsthatoccurredwhichwe didnotfullyconsiderlikely,but
occurredoccasionally,forexamplerunningintoanintersectionatthe same time thatthe robot was
attemptingtoreadjusttofollowthe line.Thesemethodswere usedforroughlythreedifferent
generationsof the same code,becomingbothmore robustandmore efficientwitheachnew iteration.
Section5: Code Limitations
The limitationsof the code include minorglitches,lackof anytype of defense from ahunting
robot,as well asa predictabilityastowhere the robotisgoingto travel duringthe course.Much of the
limitationsalsocame fromthe hardware of the robot,where duringthe competition,asensorwas
disconnectedfromitsgroundingandnolongerreadproperly.The code itself alsoactedstrangely,
stutteringoccasionallyduringtimesof steepadjustmenttofollowingthe line,whichdoesn’toccurwhile
the robot itturningduringan intersectionnorwhenitisfollowingthe line straightforward,abugwhich
I couldnot explainnorcouldIfix intime forthe competition.Of these minorglitchesincludedrare
occasionswhere the robotwasveryoff track fromthe line while itenteredanintersection,providing
false informationtothe robotand allowingittoact erraticallyinresponse tothese inputs.Because
these glitcheshappenedveryrarely,the onlythingtobe done inorderto correct themismake the line
followingalgorithmmore rigorousinordertonotbecome veryoff track often.Anotherlimitationof our
code was originallythe code detectingafour-wayor‘T’intersectionrequiredall the sensorstodetecta
blackline,causingproblemswhenthe robotcame inat an angle,thiswasfixedhoweverwhenthe
parametersforthese intersectionswere changedinordertodetectwhenatleastboththe outside
detectorsrecognize the blackline,insteadof all of themrecognizingthem.

Section6: Photo Documentationof Process
Step1: Travel through Step2: Turn Leftto Attack Step3: Turn Towards the
PrimaryIntersection FirstBottle Outside of the Playing-Field
Step4: Turn Leftto Attack Step5: Continue TowardsCorner Step6: BeginCircumnavigating
SecondBottle Of the Playing-Field the Outside of the Playing-Field
Section7: SkillsDevelopedandTested
Thislab challengedmyabilitytothinkbothobjectivelyandcreativelyinordertocomplete the
assignedtaskwithasmuch efficiencyandconsistencyaspossible withinalimitedtime span.Alongwith
testingmyabilitytodesignandcreate workingcode, Iwasalso taskedwithcomingupwitha strategy
for completingthe competitionfasterandmore consistentlythanmyfellow classmates. Inorderto
compete withmyfellow classmates,Ineededtoemploythe use of sensorsasefficientlyandeffectively
as possible.Thisallowedme toexperimentwithcodingnew typesof sensorsincludingthe ultrasonic
sensor,the photovoltaicsensor,andthe infraredsensorswhichbecame the backbone of the code’s
design.Duringthe original portionof the labalsoallowedme tolearnaboutsome of the many
strategiesemployedinordertosolve a maze,aswell ashow to ussensorsinorderto make the robot
react predictablytostimuli whichincludedfollowingaline,aswell asexecutingcommandsdepending
on the orientation of saidline.Byimplementingall of the skillslearnedinthiscourse andthroughother
codingprojects,Iwas able tomanipulate motorsandsensors,aswell asorganize the code intoefficient
and understandablepieces.
Otherskillstriedduringthisprocesswasorganizational,includingwritingdown the thought
processthat I undertookinordertotry and solidifythe code andminimize redundancyandunnecessary
pieceswithinthe code thatwouldotherwise provideglitches,andinefficiencieswithinthe code.This

triedmyabilityasan engineertodefinethe problemasaccuratelyandeffectivelyaspossible inorderto
approach an applicable solution.
Section8: ClosingNotes
Thislab provedtobe incrediblydifficultforanumberof reasons,of which the greatestenemy
for me was time.Beingpresentedwithuniqueandchallengingproblems,likethislab,onlyworksto
improve myabilitiesasanengineer.Ilookforwardtobeingpresentedwithotherchallengesinthe
future andbelieve thatsome of the lessonsthatIhave gatheredthroughoutthisassignmentwill helpto
shape unique andeffective solutionstoengineeringproblemsinthe future.
AppendixA: Developmental Diary
Date Time Things Accomplished Things Remaining
11/4 13:00 Attach three infrared sensorstothe
robot.
Attach ultrasonicsensortothe
robot.
Write code to read infraredsensors.
Write code to read
ultrasonicsensor.
RoundSensorsintousable
data.
Code motorsto move
whena blackline is
detected.
Designmaze solving
algorithm.
11/9 12:00 CodedUltrasonicSensortodetect
objectsinfrontof robot.
RoundSensorsintousable
data.
Code motorsto move
whena blackline is
detected.
Designmaze solving
algorithm.
11/11 13:00 Addadditional infraredsensors,
makingthe total numberof infrared
sensors5.
Adda photocell andwrite code to
include it.
RoundsensorvaluestoBooleanor
intin centimetersforthe ultrasonic
sensors.
Code motorsin orderto
follow aline.
Designanalgorithmto
solve amaze.
11/16 12:00 Attempttofollow aline usingwhile
loops,little success.
Reevaluate new goalsbasedonnew
labparameters.
Decide ona strategyto
knockdownbottles,or
huntdownopposing
robots.
Code motorsto followa
line.
11/18 13:00 Decide onhow to proceedwithnew
labparameters,begintodiscuss
Successfullyfollow aline.

possible optionsforcompleting
assignment.
Redesignstrategyemployedin
followingaline,beganworkingwith
if statementsopposedtowhile
loops.
Discontinue the use of boththe
Ultrasonicsensoras well asthe
photovoltaiccell.
Solidifyaplanof action
for knockingdownbottles,
huntingopposingrobots
deemedtooinefficient
and unreliable.
11/22 12:00 Beginto follow aline,andfleshout
sumtotal of all possibilitiesof
adjustingtofollow the line.
Developastrategyforknocking
downbottles.
Effectivelyand
consistentlyfollow aline.
Code decisionmakinginto
the robot to take turns
that knockoverall the
bottles.
11/23 12:00 Successfullyfollow aline 9/10 times
and undermoderatelytough
circumstances.
Codingthe abilitytoturn
at intersectionsinorderto
knockoverbottles.
11/25 19:00 Write downobjectivesof the code,
allowingforamore solidifiedideaof
whatthe robothas to accomplish
and how it maybe able todo that.
Scrap original code,savingsome
piecesfromthe line following
algorithm.
Codingthe abilitytoturn
at intersectionsinorderto
knockoverbottles.
Effectivelyand
11/26 18:30 Write code that allowsforthe
turningof the robotat intersections
usingforloops.
Tweakfor loopstoturn
90o
and remainonthe
targetedline.
Effectivelyand
11/27 15:00 Write algorithmthatreliesona
counterto decide whetherornot to
take the turn presentedtothe
robot,a keypart inthe actual
functioningof the robot.
Testthe code on the robot
and continue tofleshout
if statementsasthe robot
detectserrors.
11/29 12:00 Addmore if statementsandtweak
statementconditionsinorderto
have a robust algorithmthatrarely
ran intoproblemsthatwould
otherwise stopthe robot.
Tweakfor loopstobecome more
precise duringturns.
Complete the course with
consistency.
Tweakcode to try and
workpast minorglitches
that occurred,including
reachingan intersection
while alsoadjustingtothe
line.
12/1 12:00 Complete the course withthe robot
knockingdownall the bottlesa
majorityof the time.
Minor tweakingtothe
code to fix minorbugsand
make turns more precise

12/2 7:00 Solidifyforloopsandconfirmthe
properfunctioningof the robotprior
to the competition’sopening.
Compete.
AppendixB-1: Code on November5, 2016
#include <SoftwareSerial.h>
SoftwareSerial BTserial(2,3);//TX,RX
intleft;
intcenter;
intright;
longresult=0;
voidsetup(void)
{
Serial.begin(9600);
pinMode(13,OUTPUT); //RightWheel
pinMode(12,OUTPUT); //LeftWheel
pinMode(11,INPUT);//UltrasonicSensor
}
voidloop()
{
left=IRScan(6);
center=IRScan(7);
right=IRScan(8);
delay(10);
Serial.print("Left");
Serial.print(left);
Serial.print("Center");
Serial.print(center);
Serial.print("Right");

Serial.print(right);
Serial.println("");
}
longIRScan(intsensPin)
{
longresult= 0;
pinMode(sensPin,OUTPUT);//make pinOUTPUT
digitalWrite(sensPin,HIGH);//make pinHIGH to discharge capacitor - studythe schematic
delay(1);//waita ms tomake sure cap isdischarged
pinMode(sensPin,INPUT);//turnpinintoan inputand time till pingoeslow
digitalWrite(sensPin,LOW);//turnpullupsoff - or itwon't work
while(digitalRead(sensPin)){ //waitforpintogo low
result++;
}
returnresult;//WithLight:Black=White=Blue=
}
#include <SoftwareSerial.h>
SoftwareSerial BTserial(2,3);//TX,RX
intleft;
intcenter;
intright;
inti = 0;
longresult=0;
unsignedlongDistance =0;
intUSsensor= 11; // Ultrasoundsignal pin
unsignedlongUSvalue =0;
voidsetup(void)
{

Serial.begin(9600);
pinMode(USsensor,OUTPUT);//UltrasonicSensor
}
voidloop()
{
left=IRScan(6);
center=IRScan(7);
right=IRScan(8);
delay(10);
Serial.print(left);
Serial.print(center);
Serial.print(right);
Serial.println("");
i = US();
Serial.print(i);
Serial.println("CM");
delay(250);//delay1/4seconds.
}
{
longresult= 0;
pinMode(sensPin,OUTPUT);//make pinOUTPUT
digitalWrite(sensPin,HIGH);//make pinHIGH to discharge capacitor- studythe schematic
delay(1);//waita ms tomake sure cap isdischarged

pinMode(sensPin,INPUT);//turnpinintoan inputand time till pingoeslow
digitalWrite(sensPin,LOW);//turnpullupsoff - or itwon't work
while(digitalRead(sensPin)){ //waitforpintogo low
result++;
}
returnresult;//WithLight:Black=White=Blue=
}
unsignedlongUS()
{
pinMode(USsensor,OUTPUT);//Switchsignalpintooutput
digitalWrite(USsensor,LOW);//Sendlow pulse
delayMicroseconds(2);//Wait for 2 microseconds
digitalWrite(USsensor,HIGH);//Sendhighpulse
delayMicroseconds(5);//Waitfor 5 microseconds
digitalWrite(USsensor,LOW);//Holdoff
pinMode(USsensor,INPUT);//Switchsignalpintoinput
digitalWrite(USsensor,HIGH);//Turn on pullupresistor
// please note thatpulseInhasa1sec timeout,whichmay
// notbe desirable.Dependingonyoursensorspecs,you
// can likelyboundthe time like this -- marcmerlin
// Distance = pulseIn(USsensor,HIGH,38000)
Distance = pulseIn(USsensor,HIGH);//ListenforDistance
USvalue = (Distance /58.138); //converttoCM
returnUSvalue;
}
intFleft,left,Fright,right,center,reach,i=0,pivot=0;
booleanFL,L, C, R, FR;
longresult=0;

unsignedlongDistance =0;
intUSsensor= 11; // Ultrasoundsignal pin
unsignedlongUSvalue =0;
voidsetup(void)
{
Serial.begin(9600);
pinMode(USsensor,OUTPUT);//UltrasonicSensor
}
voidloop()
{
// ScanningUnderbelly,IRScanners
Fright=IRScan(8);
right=IRScan(5);
center=IRScan(7);
left=IRScan(9);
Fleft=IRScan(6);
if(Fright>200){
FR=1;
}
else FR=0;
if(right>200){
R=1;
}
else R=0;
if(center>200){
C=1;
}

else C=0;
if(left>200){
L=1;
}
else L=0;
if(Fleft>200){
FL=1;
}
else FL=0;
Serial.print("FarLeft");
Serial.print(FL);
Serial.print(L);
Serial.print(C);
Serial.print(R);
Serial.print("FarRight");
Serial.print(FR);
Serial.println("");
if( FL==0 && L==0 && C==1 && R==0 && FR==0){//StraightForward
digitalWrite(13,HIGH);
delayMicroseconds(1400);
digitalWrite(13,LOW);
delay(10);
delay(10);

}
else if( FL==0 && L==0 && C==1 && R==1 && FR==0){//AdjustLeft
delay(10);
delay(10);
}
else if( FL==0 && L==0 && C==1 && R==1 && FR==1){
for (pivot=0;pivot<60;pivot++)//Pivotthe Robotright,approximately90 degrees
{
delayMicroseconds(1300);//RigthMotorStandstill
delay(10);
delayMicroseconds(1300);//LeftMotorBackwards
delay(10);
}
}
else if( FL==0 && L==0 && C==1 && R==1 && FR==1){//RigthTurn or Straight
}
else if( FL==0 && L==1 && C==1 && R==0 && FR==0){//AdjustRight

delay(10);
delay(10);
}
else if( FL==1 && L==1 && C==1 && R==0 && FR==0){
for (pivot=0;pivot<60;pivot++)//Pivotthe Robotleft,approximately90degrees
{
delay(10);
delay(10);
}
}
else if( FL==1 && L==1 && C==1 && R==0 && FR==0){//LeftTurn or Straight
}
else if( FL==1 && L==1 && C==1 && R==1 && FR==1){//T-Intersection
}
else if( FL==0 && L==0 && C==1 && R==0 && FR==0){//4-WayIntersection
}
}
{
longresult= 0;
pinMode(sensPin,OUTPUT);

digitalWrite(sensPin,HIGH);
delay(1);
pinMode(sensPin,INPUT);
digitalWrite(sensPin,LOW);
while(digitalRead(sensPin))
{
result++;
}
returnresult;
}
AppendixC: Final Code
intFright,right,center,left,Fleft,motion,d=0,a=0;
booleanFL,L, C, R, FR;
longresult=0;
voidsetup(void)
{
Serial.begin(9600);
pinMode(13,OUTPUT);//RightWheel Forward == 1700
pinMode(12,OUTPUT);//LeftWheel Forward== 1300
}
voidloop() {
//ScanningUnderbelly,IRScanners ------------------------------------------------------------------
right=IRScan(5);
Fleft=IRScan(6);
center=IRScan(7);
Fright=IRScan(8);
left=IRScan(9);

//RoundingIRSensorstoBinary -----------------------------------------------------------------------
if(Fright>200){
FR=1;}
else FR=0;
if(right>200){
R=1;}
else R=0;
if(center>200){
C=1;}
else C=0;
if(left>200){
L=1;}
else L=0;
if(Fleft>200){
FL=1;}
else FL=0;
//PrintSensorValuesforTroubleshooting ------------------------------------------------------------
Serial.print("FarLeft");
Serial.print(FL);
Serial.print(L);
Serial.print(C);
Serial.print(R);
Serial.print("FarRight");
Serial.print(FR);

Serial.println("");
//BasicLine FollowingCommands ------------------------------------------------------------------------
if( FL==0 && L==0 && C==1 && R==0 && FR==0){//StraightForward
delayMicroseconds(1700);//RightWheel
delay(5);
digitalWrite(12, HIGH);
delayMicroseconds(1300);//LeftWheel
delay(5);
}
else if( FL==0 && L==0 && C==0 && R==0 && FR==0){//StraightForward
digitalWrite(13, LOW);
delay(5);
delay(5);
}
delay(5);

delay(5);
}
delay(5);
delay(5);
}
delay(5);
delay(5);
}
delay(5);

delay(5);
}
delay(5);
delay(5);
}
delay(5);
delay(5);
}

delay(5);
delay(5);
}
delay(5);
delay(5);
}
//IntersectionCommands
//StraightRight-------------------------------------------------------------------------------------
else if((FL==0&& L==0 && C==1 && R==1 && FR==1)||(FL==0 && L==1 && C==1 && R==1 &&
FR==1)){//StraightRight
if(d==0){//FirstIntersection,Straight
for(motion=0;motion<20;motion++){//StraighttoExitIntersection
delayMicroseconds(1700);//RightMotorForward
delay(5);
delayMicroseconds(1300);//LeftMotorForward

delay(5);
}
d++;
}
else if (d==1){//SecondIntersection,Right
for(motion=0;motion<13;motion++){//InchForwardSlightly
delay(5);
delay(5);
}
for(motion=0;motion<42;motion++){//TurnRight
delay(5);
delayMicroseconds(1700);//LeftMotorBackward
delay(5);
}
}
}

//LeftAnything--------------------------------------------------------------------------------------
else if((FL==1&& L==1 && C==1 && R==0 && FR==0)||(FL==1 && L==1 && C==1 && R==1 &&
FR==0)){//LeftAnything
if(a==0){//TurnLeft
for(motion=0;motion<13;motion++){//InchForward
delay(5);
delay(5);
}
for(motion=0;motion<42;motion++){//TurnLeft
delayMicroseconds(1300);//RightMotorBackward
delay(5);
delay(5);
}
a++;
}
else if(a==1){//Move Straight
for(motion=0;motion<20;motion++){

delay(5);
delay(5);
}
a--;
}
}
//T-Intersection/4-Way-----------------------------------------------------------------------------
else if( FL==1 && FR==1){
for(motion=0;motion<13;motion++){//InchForwardSlightly
delay(5);
delay(5);
}
for(motion=0;motion<42;motion++){//TurnLeft
delayMicroseconds(1300);//RightMotorBackward
delay(5);

delay(5);
}
}
}
//IRScannerStatement ---------------------------------------------------------------------------------
longIRScan(intsensPin){
longresult= 0;
pinMode(sensPin,OUTPUT);
digitalWrite(sensPin,HIGH);
delay(15);
pinMode(sensPin,INPUT);
digitalWrite(sensPin,LOW);
while(digitalRead(sensPin)){
result++;}
returnresult;
}

Final Lab, Arduino Robot Challenge

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