help needed with code!plz!

[vybhav]

i am doing a line follower robot using an arduino atmega328 micro controller and a motor shield.
i am using h bridge dc motor,5 line following sensors,1 angular servo
it is a actuated steering controlled by angular servo.

can someone plz help me with the writing of the code.

 

[vybhav]

I've attached a basic copy of the line following program i've been working on. So far, i've tested the motor speed functionality and the operation of the servo with the sensors. It seems to be working, but will definitely need to be calibrated for steering and motor speed. I have not attached an interrupt or something yet that will detect when it hits the line and needs to transfer over to the next lane.
plz reply with comments and any help with further improvements would be really appreciated.!!!
#include<stdlib.h>
#include<math.h>
#include<string.h>

#define SERVO1 8
#define MAX_PERIOD 40000 //20ms
#define SERVO_UPPER_LIMIT 4800 // 90 deg right (1850 from middle to right) 20.55 per degree
#define SERVO_LOWER_LIMIT 1100 // 90 deg left (1850 from middle to left)

void ext0_handler( void );
void setup_timer1( void );
void set_timer1( unsigned int val );

volatile int t1_state = 0;
volatile int S1 = 2950; // 0 degrees is 2950
volatile int S2 = 40000; // 20ms low pulse

int direct = 0; // direction of servo
int speedlow = 0; // speed for hard turn
int speedmed = 125; // speed for med turn
int speedhigh = 250; // speed for straight away

int counter = 0; // testing counter

int binary = 0; // variable for line sensors
int leftouter = LOW; // sensor inputs
int leftinner = LOW;
int middle = LOW;
int rightinner = LOW;
int rightouter = LOW;

int pinleftouter = 2;
int pinleftinner = 3;
int pinmiddle = 4;
int pinrightinner = 5;
int pinrightouter = 6;
int pinmotor = 10;

ISR( TIMER1_OVF_vect )
{
switch( t1_state )
{
case 0:
set_timer1(65536 - S1);
digitalWrite(SERVO1,HIGH);
t1_state = 1;
break;
case 1:
set_timer1(65536 - S2);
digitalWrite(SERVO1,LOW);
t1_state = 0;
break;
}
}

void setup()
{
Serial.begin(9800);
Serial.print("Initializing...");

pinMode(SERVO1,OUTPUT);
pinMode(pinleftouter,INPUT);
pinMode(pinleftinner,INPUT);
pinMode(pinmiddle,INPUT);
pinMode(pinrightinner,INPUT);
pinMode(pinrightouter,INPUT);
pinMode(pinmotor,OUTPUT);

digitalWrite(SERVO1,LOW); //setup default states for signals

setup_timer1();

sei(); // enable global interrupts

Serial.print("Done\r\n");
}

void loop()
{
binary = 0;
getBinary();
lineCase();
delay(100);
counter++;
//Serial.print("End of count :");
//Serial.println(counter);
}

void getBinary()
{
rightouter = digitalRead(pinrightouter);
rightinner = digitalRead(pinrightinner);
middle = digitalRead(pinmiddle);
leftinner = digitalRead(pinleftinner);
leftouter = digitalRead(pinleftouter);

Serial.print(leftouter);
Serial.print(" ");
Serial.print(leftinner);
Serial.print(" ");
Serial.print(middle);
Serial.print(" ");
Serial.print(rightinner);
Serial.print(" ");
Serial.print(rightouter);

binary = rightouter*1 + rightinner*2 + middle*4 + leftinner*8 + leftouter*16;

Serial.print(" ");
Serial.print("Binary: ");
Serial.println(binary);
/*binary = rightouter << 0; // forces nth bit of x to be state. all other bits left alone
binary = rightinner << 1;
binary = middle << 2;
binary = (leftinner << 3);
binary = (leftouter << 4);*/
}

void lineCase()
{
switch(binary)
{
case 16: // left outer
//Serial.print("B10000 ");
//Serial.println(binary);
analogWrite(pinmotor,speedlow);
S1 = 3875;//digitalWrite(SERVO1,3875); // turn right 45 degrees
break;
case 24: // left outer, left middle
//Serial.print("B11000 ");
//Serial.println(binary);
analogWrite(pinmotor,speedlow);
S1 = 3875;//digitalWrite(SERVO1,3875); // turn right 45 degrees
break;
case 8: // left middle
//Serial.print("B01000 ");
//Serial.println(binary);
analogWrite(pinmotor,speedmed);
S1 = 3258;//digitalWrite(SERVO1,3258); // turn right 15 degrees
break;
case 12: // left middle, middle
//Serial.print("B01100 ");
//Serial.println(binary);
analogWrite(pinmotor,speedmed);
S1 = 3258;//digitalWrite(SERVO1,3258); // turn right 15 degrees
break;
case 4: // middle
//Serial.print("B00100 ");
//Serial.println(binary);
analogWrite(pinmotor,speedhigh);
S1 = 2950;//digitalWrite(SERVO1,2950); // turn 0 degrees
break;
case 6: // middle, right middle
//Serial.print("B00110 ");
//Serial.println(binary);
analogWrite(pinmotor,speedmed);
S1 = 2642;//digitalWrite(SERVO1,2642); // turn left 15 degrees
break;
case 2: // right middle
//Serial.print("B00010 ");
//Serial.println(binary);
analogWrite(pinmotor,speedmed);
S1 = 2642;//digitalWrite(SERVO1,2642); // turn left 15 degrees
break;
case 3: // right middle, right outer
//Serial.print("B00011 ");
//Serial.println(binary);
analogWrite(pinmotor,speedlow);
S1 = 2025;//digitalWrite(SERVO1,2025); // turn left 45 degrees
break;
case 1: // right outer
//Serial.print("B00001 ");
//Serial.println(binary);
analogWrite(pinmotor,speedlow);
S1 = 2025;//digitalWrite(SERVO1,2025); // turn left 45 degrees
break;
case 0: // all white
//Serial.print("B00000 ");
//Serial.println(binary);
break;
case 33: // all black
//Serial.print("B11111 ");
//Serial.println(binary);
break;
}
}

void setup_timer1( void )
{
//Initialize Timer 1
TCCR1A = 0x00;

//Setup Prescale
TCCR1B = 0x02; //divide by 8

//Unmask overflow interrupt
TIMSK1 = 0x01;

return;
}


void set_timer1(unsigned int val)
{
//High byte
TCNT1H = (val >> 8) & 0x00FF;
//Low byte
TCNT1L = val & 0x00FF;
}

 

[magnatro]

You can do it with an at89c51 uC the sensors can be photo transistors l14f1 nad there must be a comperator (pref: lm 324) for the out put monitoring and amplification
do you need ckt dia?

$MOD
ORG 0000H
LJMP MAIN
ORG 0030H

MAIN: SETB P3.0
SETB P3.1
AGAIN:JB P3.0,NEXT
JB P3.1,GO
CLR P2.0
SETB P2.1
CLR P2.2
SETB P2.3
SJMP AGAIN
GO: CLR P2.0
SETB P2.1
CLR P2.2
CLR P2.3
SJMP AGAIN
NEXT: JB P3.1,GO1
CLR P2.0
CLR P2.1
CLR P2.2
SETB P2.3
SJMP AGAIN
GO1: JB
CLR P2.0
CLR P2.1
CLR P2.2
CLR P2.3
SJMP AGAIN
HERE: SJMP HERE
END

 

[vybhav]

thanks mahn..but i have already got the atmega328 and all the other parts...i would have loved to use the assemply language code but have to deal with it the "c" way...
thanks a lot for the help though...
can u comment on my coding as to how u think i can improve it?

 

[magnatro]

can i suggest one thing..?
there is no need for the servo motor... a simple anticlock-clockwise turn of the DC motor are enough for the steering of the robot.
can i ask you something..? you are using an 'arduino' compiler eh? What version of arduino are you using? if you are using arduino what's with the headers..?
didi you copied and pasted the code from the examples library (frankly)..?

 

[magnatro]

i think you have copied this from the arduino folder in documents folder if you are using windows OS.Kindly paste the orginal code from the compiler itself.