a pull for agrobot making through obstacle avoid bot

01. Codes/new.ino

@@ -0,0 +1,188 @@
+int pinML1=36;
+int pinML2=35;
+int pinMR1=12;
+int pinMR2=11;
+
+
+int LEDbackL=9;
+int LEDbackR=7;
+int LEDfrontL=3;
+int LEDfrontR=2;
+int LEDsideL=1;
+int LEDsideR=13;
+
+void setup() 
+{
+  // put your setup code here, to run once:
+
+  // For Motors
+  pinMode(pinML1,OUTPUT);
+  pinMode(pinML2,OUTPUT);
+  pinMode(pinMR1,OUTPUT);
+  pinMode(pinMR2,OUTPUT);
+//For the purpose of output 
+  pinMode(LEDbackL,OUTPUT);
+  pinMode(LEDbackR,OUTPUT);
+  pinMode(LEDfrontL,OUTPUT);
+  pinMode(LEDfrontR,OUTPUT);
+  pinMode(LEDsideL,OUTPUT);
+  pinMode(LEDsideR,OUTPUT);
+
+}
+
+
+
+void moveForward(int spd,int TotalTime,int BlinkTime)
+{
+  analogWrite(pinML1,spd);
+  analogWrite(pinML2,HIGH);
+  analogWrite(pinMR1,spd);
+  analogWrite(pinMR2,HIGH);
+
+  int count=0;
+  while(true)
+  {
+
+    digitalWrite(LEDfrontL,HIGH);
+    digitalWrite(LEDfrontR,HIGH);
+    delay(BlinkTime);
+      count=count+BlinkTime;
+    digitalWrite(LEDfrontL,LOW);
+    digitalWrite(LEDfrontR,LOW);
+    delay(BlinkTime);
+      count=count+BlinkTime;
+
+    if(count>=TotalTime)
+    break;
+  }
+
+}
+
+void moveBackward(int spd,int TotalTime,int BlinkTime)
+{
+  analogWrite(pinML1,LOW);
+  analogWrite(pinML2,spd);
+  analogWrite(pinMR1,LOW);
+  analogWrite(pinMR2,spd);
+
+  int count=0;
+  while(true)
+  {
+
+    digitalWrite(LEDbackL,HIGH);
+    digitalWrite(LEDbackR,HIGH);
+    delay(BlinkTime);
+      count=count+BlinkTime;
+    digitalWrite(LEDbackL,LOW);
+    digitalWrite(LEDbackR,LOW);
+    delay(BlinkTime);
+      count=count+BlinkTime;
+
+    if(count>=TotalTime)
+    break;
+  }
+
+}
+
+void turnLeft(int spd,int TotalTime,int BlinkTime)
+{
+  analogWrite(pinML1,LOW);
+  analogWrite(pinML2,LOW);
+  analogWrite(pinMR1,spd);
+  analogWrite(pinMR2,LOW);
+
+  int count=0;
+  while(true)
+  {
+
+    digitalWrite(LEDfrontL,HIGH);
+    delay(BlinkTime);
+      count=count+BlinkTime;
+    digitalWrite(LEDfrontL,LOW);
+    delay(BlinkTime);
+      count=count+BlinkTime;
+
+    if(count>=TotalTime)
+    break;
+  }
+
+}
+
+void turnRight(int spd,int TotalTime,int BlinkTime)
+{
+  analogWrite(pinML1,spd);
+  analogWrite(pinML2,LOW);
+  analogWrite(pinMR1,LOW);
+  analogWrite(pinMR2,LOW);
+
+  int count=0;
+  while(true)
+  {
+
+    digitalWrite(LEDfrontR,HIGH);
+    delay(BlinkTime);
+      count=count+BlinkTime;
+    digitalWrite(LEDfrontR,LOW);
+    delay(BlinkTime);
+      count=count+BlinkTime;
+
+    if(count>=TotalTime)
+    break;
+  }
+
+}
+
+void STOP()
+{
+  analogWrite(pinML1,LOW);
+  analogWrite(pinML2,LOW);
+  analogWrite(pinMR1,LOW);
+  analogWrite(pinMR2,LOW);
+
+
+  digitalWrite(LEDbackL,HIGH);
+  digitalWrite(LEDbackR,HIGH);
+  digitalWrite(LEDfrontR,LOW);
+  digitalWrite(LEDfrontL,LOW);
+  digitalWrite(LEDsideL,LOW);
+  digitalWrite(LEDsideR,LOW);
+
+}
+
+void RESET()
+{
+//Reset LED pin
+  analogWrite(pinML1,LOW);
+  analogWrite(pinML2,LOW);
+  analogWrite(pinMR1,LOW);
+  analogWrite(pinMR2,LOW);
+  digitalWrite(LEDbackL,LOW);
+  digitalWrite(LEDbackR,LOW);
+  digitalWrite(LEDfrontL,LOW);
+  digitalWrite(LEDfrontR,LOW);
+  digitalWrite(LEDsideL,LOW);
+  digitalWrite(LEDsideR,LOW);
+
+}
+
+
+void loop() 
+{
+  // put your main code here, to run repeatedly:
+
+
+/*
+ * RESET() & STOP()    ----> parameterless.
+ * all other functions ----> (speed,TotalTime,BlinkTime)
+ */
+
+  RESET();
+  digitalWrite(LEDsideL,LOW);
+  digitalWrite(LEDsideR,LOW);
+  moveForward(255,3000,300);
+  moveBackward(255,3000,300);
+  turnLeft(255,3000,300);
+  turnRight(255,3000,300);
+  STOP();
+  delay(5000);
+}