Maze path search robot : sensorFunction.ino
Please copy and paste it into Arduino IDE.
  1. void readLFSsensors()
  2. {
  3.   LFS[0] = digitalRead(lineFollowSensor0); // Left out side sensor
  4.   LFS[1] = digitalRead(lineFollowSensor1); // Left in side sensor
  5.   LFS[2] = digitalRead(lineFollowSensor2); // Center sensor
  6.   LFS[3] = digitalRead(lineFollowSensor3); // Right in side sensor
  7.   LFS[4] = digitalRead(lineFollowSensor4); // Right out side sensor
  9.   if ((LFS[0] == 1 ) && (LFS[1] == 1 ) && (LFS[2] == 1 ) && (LFS[3] == 1 ) && (LFS[4] == 1 )) {
  10.     mode = CONT_LINE;
  11.   }
  12.   else if ((LFS[4] == 1 )) {
  13.     mode = RIGHT_TURN;
  14.   }
  15.   else if ((LFS[0] == 1 )) {
  16.     mode = LEFT_TURN;
  17.   }
  18.   else if ((LFS[0] == 0 ) && (LFS[1] == 0 ) && (LFS[2] == 0 ) && (LFS[3] == 0 ) && (LFS[4] == 0 )) {
  19.     mode = NO_LINE;
  20.   }
  21.   else if ((LFS[0] == 0 ) && (LFS[1] == 0 ) && (LFS[2] == 1 ) && (LFS[3] == 1 ) && (LFS[4] == 0 )) {
  22.     mode = FOLLOWING_LINE;
  23.   }
  24.   else if ((LFS[0] == 0 ) && (LFS[1] == 0 ) && (LFS[2] == 1 ) && (LFS[3] == 0 ) && (LFS[4] == 0 )) {
  25.     mode = FOLLOWING_LINE;
  26.   }
  27.   else if ((LFS[0] == 0 ) && (LFS[1] == 1 ) && (LFS[2] == 1 ) && (LFS[3] == 0 ) && (LFS[4] == 0 )) {
  28.     mode = FOLLOWING_LINE;
  29.   }
  30.   Serial.print (" mode: ");
  31.   Serial.println (mode);
  32. }
by Paradise
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