Maze solving robot

Community General Discussions
1

i have a few errors in turnings.

the bot should make a turnAround only after going straight for a while and then meeting a dead end. But, it turns anytime, anywhere as soon as all the sensors read white.

here's my code.

 

 

 

#define rightFarSensor A0

#define rightNearSensor A1

#define centerSensor A2

#define leftNearSensor A3

#define leftFarSensor A4

 

int s1;

int s2;

int s3;

int s4;

int s5;

 

#define rightMotor1 6

#define rightMotor2 5

 

#define leftMotor1 10

#define leftMotor2 9

 

#define leapTime 100

 

void setup() {

  Serial.begin(115500);

 

  pinMode(rightMotor1, OUTPUT);

  pinMode(rightMotor2, OUTPUT);

  pinMode(leftMotor1, OUTPUT);

  pinMode(leftMotor2, OUTPUT);

}

 

void loop(){

 

 readSensors();                                                                                     

 

 if(s5<500 && s1<500 && (s2>500 || s3>500 || s4>500)){ 

    straight();                                                                                      

  }

  else{                                                                                              

    leftHandWall();                                                                                   

  }

 

}

 

  void readSensors() {

   s1 = analogRead(A0);

   s2 = analogRead(A1);

   s3 = analogRead(A2);

   s4 = analogRead(A3);

   s5 = analogRead(A4);

  // print out the value you read:

   Serial.print("s1: ");

 Serial.println(s1);

 Serial.print("s2: ");

 Serial.println(s2);

 

 Serial.print("s3: ");

 Serial.println(s3);

 

 Serial.print("s4: ");

 Serial.println(s4);

 Serial.print("s5: ");

 Serial.println(s5);

}

 

void leftHandWall(){

if( s5>500 && s1>500){

    analogWrite(leftMotor1, 180);

    analogWrite(leftMotor2, 0);

    analogWrite(rightMotor1, 180);

    analogWrite(rightMotor2, 0);

    delay(leapTime);

    readSensors();

 

    if(s5>500 || s1>500){

      done();

      delay(100000);

  }

  else {

    turnLeft();

  }

}

     else if(s5>500)

  {

  turnLeft();

  }

  else if(s1>500){

    analogWrite(leftMotor1, 180);

    analogWrite(leftMotor2, 0);

    analogWrite(rightMotor1, 180);

    analogWrite(rightMotor2, 0);

    delay(leapTime);

    readSensors();

    if(s3>500) {

      straight();

    }

    if(s1<500 && s5<500 && s3<500){

    turnRight();

  }

  straight();

  if(s1<500 && s2<500 && s3<500 && s4<500 && s5<500){

    turnAround();

  }

}

}

 

 

 

 

 

void done() {

analogWrite(leftMotor1, 0); 

analogWrite(leftMotor2, 0); 

 

analogWrite(rightMotor1, 0); 

analogWrite(rightMotor2, 0);

}

 

void straight(){

    analogWrite(leftMotor1, 180);

    analogWrite(leftMotor2, 0);

    analogWrite(rightMotor1, 180);

    analogWrite(rightMotor2, 0);

}

 

 

void turnAround(){

    analogWrite(leftMotor1, 180);

    analogWrite(leftMotor2, 0);

    analogWrite(rightMotor1, 180);

    analogWrite(rightMotor2, 0);

    delay(180);

   while(analogRead(A3)<500){

     analogWrite(leftMotor1, 0);

    analogWrite(leftMotor2, 180);

    analogWrite(rightMotor1, 180);

    analogWrite(rightMotor2, 0);

    delay(2);

     analogWrite(leftMotor1, 0);

    analogWrite(leftMotor2, 0);

    analogWrite(rightMotor1, 0);

    analogWrite(rightMotor2, 0);

    delay(1);

  }

}

 

 

void turnRight(){

     analogWrite(leftMotor1, 180);

    analogWrite(leftMotor2, 0);

    analogWrite(rightMotor1, 0);

    analogWrite(rightMotor2, 180);

}

 

 

void turnLeft(){

    analogWrite(leftMotor1, 0);

    analogWrite(leftMotor2, 180);

    analogWrite(rightMotor1, 180);

    analogWrite(rightMotor2, 0);

  }

 

 

 

 

2

I know this isn’t fixing your problem, but,

I hope it will help you locate it.

#define rightFarSensor A0

#define rightNearSensor A1

#define centerSensor A2

#define leftNearSensor A3

#define leftFarSensor A4

const int RIGHTMOTOR1 = 6;

const int RIGHTMOTOR2 = 5;

const int LEFTMOTOR1 = 10;

const int LEFTMOTOR2 = 9;

const int LEAPTIME = 100;

const boolean BLACK = 0;

const boolean WHITE = 1;

const boolean DEBUG = false; // set to true to get serial read output


boolean rightFar;

boolean rightNear;

boolean center;

boolean leftNear;

boolean leftFar;


void setup() {

    Serial.begin(115200);

    pinMode(RIGHTMOTOR1, OUTPUT);

    pinMode(RIGHTMOTOR2, OUTPUT);

    pinMode(LEFTMOTOR1, OUTPUT);

    pinMode(LEFTMOTOR2, OUTPUT);

}


void loop() {

    readSensors();                                                                                     


    if (leftFar == WHITE && rightFar == WHITE && (rightNear == BLACK ||

        center == BLACK || leftNear == BLACK)) { 

        move(180, 0, 180, 0); // forward

    }


    else {

        leftHandWall();                                                                                   

    }

}


void readSensors() {

    int s1 = analogRead(rightFarSensor);

    int s2 = analogRead(rightNearSensor);

    int s3 = analogRead(centerSensor);

    int s4 = analogRead(leftNearSensor);

    int s5 = analogRead(leftFarSensor);

    

    // print out the value you read:

    if (DEBUG == true) {

        Serial.print("s1: ");

        Serial.println(s1);

        Serial.print("s2: ");

        Serial.println(s2);

        Serial.print("s3: ");

        Serial.println(s3);

        Serial.print("s4: ");

        Serial.println(s4);

        Serial.print("s5: ");

        Serial.println(s5);

    }

    

    if (s1 > 500) {

        rightFar = BLACK;

    }

    else {

        rightFar = WHITE;

    }

    

    if (s2 > 500) {

        rightNear = BLACK;

    }

    else {

        rightNear = WHITE;

    }

    

    if (s3 > 500) {

        center = BLACK;

    }

    else {

        center = WHITE;

    }

    

    if (s4 > 500) {

        leftNear = BLACK;

    }

    else {

        leftNear = WHITE;

    }

    

    if (s5 > 500) {

        leftFar = BLACK;

    }

    else {

        leftFar = WHITE;

    }

}


void leftHandWall() {

    if (leftFar == BLACK && rightFar == BLACK) {

        move(180, 0, 180, 0); // forward

        delay(LEAPTIME);


        readSensors();


        if (leftFar == BLACK || rightFar == BLACK) {

            move(0, 0, 0, 0); // stop

            delay(100000);

        }


    else {

        move(0, 180, 180, 0); // left

    }

    }//end of if(leftFar == BLACK && rightFar == BLACK)


    else if (leftFar == BLACK) {

         move(0, 180, 180, 0); // left

    }


    else if (rightFar == BLACK) {

        move(180, 0, 180, 0); // forward

        delay(LEAPTIME);


        readSensors();


        if (center == BLACK) {

            move(180, 0, 180, 0); // forward

        }


        if (rightFar == WHITE && leftFar == WHITE && center == WHITE) {

            move(180, 0, 0, 180); // right

        }

        

        move(180, 0, 180, 0); // forward

  

        if (rightFar == WHITE && rightNear == WHITE &&

            center == WHITE && leftNear == WHITE && leftFar == WHITE) {

            turnAround();

        }

    }//end of else if(rightFar == BLACK)

}


void turnAround() {

    move(180, 0, 180, 0); // forward

    delay(180);


    while(analogRead(leftNearSensor) == WHITE){

        move(0, 180, 180, 0); // left

        delay(2);


        move(0, 0, 0, 0); // stop

        delay(1);

    }

}

 

void move(int LM1, int LM2, int RM1, int RM2) {

    analogWrite(LEFTMOTOR1, LM1);

    analogWrite(LEFTMOTOR2, LM2);

    analogWrite(RIGHTMOTOR1, RM1);

    analogWrite(RIGHTMOTOR2, RM2);

}

I am not sure if this will work. It does compile. It should react the same way your current code does. mogul commented on a better way to check the sensors, but, it would require more code rewriting.

3

here’s a re-written

here’s a re-written code…but still not working…it makes a 180 turn…and has started going right as well…still goes striaght over left…

 

#define rightFarSensor A0

#define rightNearSensor A1

#define centerSensor A2

#define leftNearSensor A3

#define leftFarSensor A4

 

const int RIGHTMOTOR1 = 6;

const int RIGHTMOTOR2 = 5;

const int LEFTMOTOR1 = 10;

const int LEFTMOTOR2 = 9;

const int LEAPTIME = 100;

const boolean BLACK = 0;

const boolean WHITE = 1;

const boolean DEBUG = false; // set to true to get serial read output

 

boolean rightFar;

boolean rightNear;

boolean center;

boolean leftNear;

boolean leftFar;

 

void setup() {

    Serial.begin(115200);

    pinMode(RIGHTMOTOR1, OUTPUT);

    pinMode(RIGHTMOTOR2, OUTPUT);

    pinMode(LEFTMOTOR1, OUTPUT);

    pinMode(LEFTMOTOR2, OUTPUT);

}

 

void loop() {

    readSensors();                                                                                     

 

    if (leftFar == WHITE && rightFar == WHITE && (rightNear == BLACK || 

        center == BLACK || leftNear == BLACK)) { 

        move(180, 0, 180, 0); // forward

    }

 

    else {                                                                                              

        leftHandWall();                                                                                   

    }

}

 

void readSensors() {

    int s1 = analogRead(rightFarSensor);

    int s2 = analogRead(rightNearSensor);

    int s3 = analogRead(centerSensor);

    int s4 = analogRead(leftNearSensor);

    int s5 = analogRead(leftFarSensor);

 

    // print out the value you read:

    if (DEBUG == true) {

        Serial.print("s1: ");

        Serial.println(s1);

        Serial.print("s2: ");

        Serial.println(s2);

        Serial.print("s3: ");

        Serial.println(s3);

        Serial.print("s4: ");

        Serial.println(s4);

        Serial.print("s5: ");

        Serial.println(s5);

    }

 

    if (s1 > 500) {

        rightFar = BLACK;

    }

    else {

        rightFar = WHITE;

    }

 

    if (s2 > 500) {

        rightNear = BLACK;

    }

    else {

        rightNear = WHITE;

    }

 

    if (s3 > 500) {

        center = BLACK;

    }

    else {

        center = WHITE;

    }

 

    if (s4 > 500) {

        leftNear = BLACK;

    }

    else {

        leftNear = WHITE;

    }

 

    if (s5 > 500) {

        leftFar = BLACK;

    }

    else {

        leftFar = WHITE;

    }

}

 

void leftHandWall() {

      if (leftFar == BLACK) {

        move(180, 0, 180, 0); // forward

        delay(LEAPTIME);

 

        readSensors();

 

        if (leftFar == BLACK && rightFar == BLACK) {

          move(0, 0, 0, 0);//stop

          delay(1000000);

        }

        else {

         move(0, 180, 180, 0); // left

    }

      }

    if (leftFar == WHITE && rightFar == BLACK) {

        move(180, 0, 180, 0); // inch

        delay(LEAPTIME);

 

        readSensors();

         if (rightFar == BLACK && leftFar == BLACK ) {

          move(0, 0, 0, 0);

          delay(1000000);

        }

        else if (center == BLACK) {

            move(180, 0, 180, 0); // forward

        }

 

    else {

        move(180, 0, 0, 180); // right

    }

    }//end of if(leftFar == BLACK && rightFar == BLACK)

 

else if (rightFar == WHITE && rightNear == WHITE && 

            center == WHITE && leftNear == WHITE && leftFar == WHITE) {

            turnAround();

            }

}

 

void turnAround() {

 

    while(analogRead(leftNearSensor) == WHITE){

        move(0, 180, 180, 0); // left

    }

}

 

void move(int LM1, int LM2, int RM1, int RM2) {

    analogWrite(LEFTMOTOR1, LM1);

    analogWrite(LEFTMOTOR2, LM2);

    analogWrite(RIGHTMOTOR1, RM1);

    analogWrite(RIGHTMOTOR2, RM2);

}

4

Try replacing the leftHandWall() with:

    if (leftFar == BLACK && leftNear == BLACK) {

move(0, 180, 180, 0); // left

}

else if (leftNear == BLACK || center == BLACK || rightNear == BLACK) {

move(180, 0, 180, 0); // forward

}

else if (rightNear == BLACK && rightFar == BLACK) {

move(180, 0, 0, 180); // right

}

else if (leftFar == WHITE && leftNear == WHITE && center == WHITE &&

 rightNear == WHITE && rightFar == WHITE) {

turnAround();

}

else {

move(0, 0, 0, 0); // stop

delay(1000000);

}

It compiles. I can’t say any more than that. I don’t specifically like the layout of the code, but, it follows what you wrote as closely as I can manage.

5

another one!!!

here’s a code that finally works better…however, the 180 turns are too slow…

 

 

 

#define rightFarSensor A0

#define rightNearSensor A1

#define centerSensor A2

#define leftNearSensor A3

#define leftFarSensor A4

const int RIGHTMOTOR1 = 6;

const int RIGHTMOTOR2 = 5;

const int LEFTMOTOR1 = 10;

const int LEFTMOTOR2 = 9;

const int LEAPTIME = 100;

const boolean BLACK = 0;

const boolean WHITE = 1;

const boolean DEBUG = false; // set to true to get serial read output


boolean rightFar;

boolean rightNear;

boolean center;

boolean leftNear;

boolean leftFar;


void setup() {

    Serial.begin(115200);

    pinMode(RIGHTMOTOR1, OUTPUT);

    pinMode(RIGHTMOTOR2, OUTPUT);

    pinMode(LEFTMOTOR1, OUTPUT);

    pinMode(LEFTMOTOR2, OUTPUT);

}


void loop() {

    readSensors();                                                                                     


    if (leftFar == WHITE && rightFar == WHITE && (rightNear == BLACK ||

        center == BLACK || leftNear == BLACK)) { 

        move(250, 0, 250, 0); // forward

    }


    else {

        leftHandWall();                                                                                   

    }

}


void readSensors() {

    int s1 = analogRead(rightFarSensor);

    int s2 = analogRead(rightNearSensor);

    int s3 = analogRead(centerSensor);

    int s4 = analogRead(leftNearSensor);

    int s5 = analogRead(leftFarSensor);

    

    // print out the value you read:

    if (DEBUG == true) {

        Serial.print("s1: ");

        Serial.println(s1);

        Serial.print("s2: ");

        Serial.println(s2);

        Serial.print("s3: ");

        Serial.println(s3);

        Serial.print("s4: ");

        Serial.println(s4);

        Serial.print("s5: ");

        Serial.println(s5);

    }

    

    if (s1 > 500) {

        rightFar = BLACK;

    }

    else {

        rightFar = WHITE;

    }

    

    if (s2 > 500) {

        rightNear = BLACK;

    }

    else {

        rightNear = WHITE;

    }

    

    if (s3 > 500) {

        center = BLACK;

    }

    else {

        center = WHITE;

    }

    

    if (s4 > 500) {

        leftNear = BLACK;

    }

    else {

        leftNear = WHITE;

    }

    

    if (s5 > 500) {

        leftFar = BLACK;

    }

    else {

        leftFar = WHITE;

    }

}


void leftHandWall() {

       if (leftFar == BLACK) {

move(0, 250, 250, 0); // left

}

else if (leftNear == BLACK || center == BLACK || rightNear == BLACK) {

move(250, 0, 250, 0); // forward

}

else if (rightFar == BLACK) {

move(250, 0, 0, 250); // right

}

else if (leftFar == WHITE && leftNear == WHITE && center == WHITE &&

 rightNear == WHITE && rightFar == WHITE) {

turnAround();

}

}


void turnAround() {


    while(analogRead(center) == WHITE){

        move(0, 250, 250, 0); // left

    }

}

 

void move(int LM1, int LM2, int RM1, int RM2) {

    analogWrite(LEFTMOTOR1, LM1);

    analogWrite(LEFTMOTOR2, LM2);

    analogWrite(RIGHTMOTOR1, RM1);

    analogWrite(RIGHTMOTOR2, RM2);

}
6

final one here!!!

this one inclides stopping at the end…but again, bot prefers st. to left…and wont go right

 

 

#define rightFarSensor A0

#define rightNearSensor A1

#define centerSensor A2

#define leftNearSensor A3

#define leftFarSensor A4

const int RIGHTMOTOR1 = 6;

const int RIGHTMOTOR2 = 5;

const int LEFTMOTOR1 = 10;

const int LEFTMOTOR2 = 9;

const int LEAPTIME = 100;

const boolean BLACK = 0;

const boolean WHITE = 1;

const boolean DEBUG = false; // set to true to get serial read output


boolean rightFar;

boolean rightNear;

boolean center;

boolean leftNear;

boolean leftFar;


void setup() {

    Serial.begin(115200);

    pinMode(RIGHTMOTOR1, OUTPUT);

    pinMode(RIGHTMOTOR2, OUTPUT);

    pinMode(LEFTMOTOR1, OUTPUT);

    pinMode(LEFTMOTOR2, OUTPUT);

}


void loop() {

    readSensors();                                                                                     


    if (leftFar == WHITE && rightFar == WHITE && (rightNear == BLACK ||

        center == BLACK || leftNear == BLACK)) { 

        move(250, 0, 250, 0); // forward

    }


    else {

        leftHandWall();                                                                                   

    }

}


void readSensors() {

    int s1 = analogRead(rightFarSensor);

    int s2 = analogRead(rightNearSensor);

    int s3 = analogRead(centerSensor);

    int s4 = analogRead(leftNearSensor);

    int s5 = analogRead(leftFarSensor);

    

    // print out the value you read:

    if (DEBUG == true) {

        Serial.print("s1: ");

        Serial.println(s1);

        Serial.print("s2: ");

        Serial.println(s2);

        Serial.print("s3: ");

        Serial.println(s3);

        Serial.print("s4: ");

        Serial.println(s4);

        Serial.print("s5: ");

        Serial.println(s5);

    }

    

    if (s1 > 500) {

        rightFar = BLACK;

    }

    else {

        rightFar = WHITE;

    }

    

    if (s2 > 500) {

        rightNear = BLACK;

    }

    else {

        rightNear = WHITE;

    }

    

    if (s3 > 500) {

        center = BLACK;

    }

    else {

        center = WHITE;

    }

    

    if (s4 > 500) {

        leftNear = BLACK;

    }

    else {

        leftNear = WHITE;

    }

    

    if (s5 > 500) {

        leftFar = BLACK;

    }

    else {

        leftFar = WHITE;

    }

}


void leftHandWall() {

       if (leftFar == BLACK) {

         move(250, 0, 250, 0); //forward

         delay(LEAPTIME);

         readSensors();

         if (leftFar == BLACK && leftNear  == BLACK && center == BLACK && rightNear == BLACK && rightFar == BLACK) {

           move(0, 0, 0, 0); // motorstop

           delay(100000);

         }

         else {

move(0, 250, 250, 0); // left

}

       }

else if (leftNear == BLACK || center == BLACK || rightNear == BLACK) {

   move(250, 0, 250, 0); //forward

         delay(LEAPTIME);

         readSensors();

         if (leftFar == BLACK && leftNear  == BLACK && center == BLACK && rightNear == BLACK && rightFar == BLACK) {

           move(0, 0, 0, 0); // motorstop

           delay(100000);

         }

         else {

move(250, 0, 250, 0); // forward

}	

}

else if (rightFar == BLACK) {

   move(250, 0, 250, 0); //forward

         delay(LEAPTIME);

         readSensors();

         if (leftFar == BLACK && leftNear  == BLACK && center == BLACK && rightNear == BLACK && rightFar == BLACK) {

           move(0, 0, 0, 0); // motorstop

           delay(100000);

         }

         else {

move(250, 0, 0, 250); // right

}

}

else if (leftFar == WHITE && leftNear == WHITE && center == WHITE &&

 rightNear == WHITE && rightFar == WHITE) {

turnAround();

}

}


void turnAround() {


    while(analogRead(center) == WHITE){

        move(0, 250, 250, 0); // left

    }

}

 

void move(int LM1, int LM2, int RM1, int RM2) {

    analogWrite(LEFTMOTOR1, LM1);

    analogWrite(LEFTMOTOR2, LM2);

    analogWrite(RIGHTMOTOR1, RM1);

    analogWrite(RIGHTMOTOR2, RM2);

}
7

Once again, this is just code clean up.

void leftHandWall() {

    if (leftFar == BLACK) {

        stayOrGo(‘L’);

    }

    else if (leftNear == BLACK || center == BLACK || rightNear == BLACK) {

        stayOrGo(‘F’);

    }

    else if (rightFar == BLACK) {

        stayOrGo(‘R’);

    }

    else if (leftFar == WHITE && leftNear == WHITE && center == WHITE &&

        rightNear == WHITE && rightFar == WHITE) {

        turnAround();

    }

}

void stayOrGo(char dir) {

    move(250, 0, 250, 0); //forward

    delay(LEAPTIME);

    readSensors();

    if (leftFar == BLACK && leftNear  == BLACK && center == BLACK &&

        rightNear == BLACK && rightFar == BLACK) {

        move(0, 0, 0, 0); // motorstop

        delay(100000);

    }

    else {

        switch (dir) {

            case ‘L’:

                move(0, 250, 250, 0); // left

                break;

            case ‘F’:

                move(250, 0, 250, 0); //forward

                break;

            case ‘R’:

                move(250, 0, 0, 250); // right

            default:

                move(0, 0, 0, 0); // stop

        }

    }

}

I can only say that it compiles.

8

One suggestion I have for you.

If you have 5 spare digital I/O, add resistors and LEDs, then use those to see how your sensors are responding. That way you aren’t guessing what is going on.

9

Serial Monitor

Its the baud rate, dude.

You have your serial monitor set to 115,200 baud but in your code, you have specified, “115500”. This is the issue.