çizgi izleyen robot

#include <QTRSensors.h>



#define sagtabanhiz 200

#define soltabanhiz 200

#define sagmotoryon 13

#define sagmotorpwmpin 11

#define solmotoryon 12

#define solmotorpwmpin 3



int sensor=10;



QTRSensorsRC qtrrc((unsigned char[]){2,4,5,6,7,8,9,10},8,2500,QTR_NO_EMITTER_PIN);



unsigned int sensorValues[8];



void setup()

{

   delay(2000);

   pinMode(sensor,INPUT);

   pinMode(sagmotoryon,OUTPUT);

   pinMode(sagmotorpwmpin,OUTPUT);

   pinMode(solmotoryon,OUTPUT);

   pinMode(solmotorpwmpin,OUTPUT);

   int i;

   digitalWrite(13,HIGH);

for (int i=0;i<200;i++)

   {

    if( 0 <=i&&i< 5 ) hafifsagadon();

    if( 5 <=i&&i< 15 ) hafifsoladon();

    if( 15 <=i&&i< 25 ) hafifsagadon();

         if( 25 <=i&&i< 35 ) hafifsoladon();

         if( 35 <=i&&i< 45 ) hafifsagadon();

         if( 45 <=i&&i< 55 ) hafifsoladon();

         if( 55 <=i&&i< 65 ) hafifsagadon();

         if( 65 <=i&&i< 75 ) hafifsoladon();

         if( 75 <=i&&i< 85 ) hafifsagadon();

         if( 85 <=i&&i< 90 ) hafifsoladon();



    if(i>=90 ) {

      frenle();delay(5);

      }



    qtrrc.calibrate();

        delay(4);

  }

    digitalWrite(13,LOW);

    delay(2000);



  Serialbegin(9600);



  int sonhata = 0;

  float Kp = 0.06;

  float Kd = 0.8;

  int sagmotorpwm = 0;

  int solmotorpwm = 0;

  int zemin=0;



  void loop()

  {

  unsigned int sensorValues[8];

  unsigned int position = qtrrc.readLine(sensorValues,1,zemin);

  int hata = position-3500;



  if ( sensorValues[0]<100 && sensorValues[7]<100 ){zemin=0; }

  if ( sensorValues[0]>500 && sensorValues[7]>500 ){zemin=1; }



  int duzeltmehizi = Kp * hata + Kd*(hata - sonhata);

  sonhata = hata;



  sagmotorpwm = sagtabanhiz + duzeltmehizi ;

  solmotorpwm = soltabanhiz - duzeltmehizi ;



  sagmotorpwm = constrain(sagmotorpwm,-100,110);

  solmotorpwm = constrain(solmotorpwm,-100,110);

  motorkontrol(sagmotorpwm,solmotorpwm);

  }



  void motorkontrol( int sagmotorpwm, int solmotorpwm){



   if(sagmotorpwm<=0){

      sagmotorpwm=abs(sagmotorpwm);

      digitalWrite(sagmotoryon,LOW);

      analogWrite(sagmotorpwmpin, sagmotorpwm);

    }

   else{

      digitalWrite(sagmotoryon,LOW);

      analogWrite(sagmotorpwmpin,sagmotorpwm);

   }

   if(solmootrpwm<=0){

      solmotorpwm=abs(solmotorpwm);

      digitalWrite(solmotoryon,LOW);

      analogWrite(solmotorpwmpin,solmotorpwm);

    }

   else{

      digitalWrite(solmotoryon,HIGH);

      analogWrite(solmotorpwmpin,solmotorpwm);

   }

  }

    void frenle(){

      motorkontrol(0,0);

      }



    void hafifsagadon(){

      motorkontrol(-100,100);

      }



    void hafifsoladon(){

      motorkontrol(100,-100);

      }

    }