How To Make A Edge Detector Bluetooth Car| Edge Detector Car| Topped With Fun

Circuit Diagram:

Code:

//Include AF Motor.h library before uploading the sketch

#include <AFMotor.h>

#define IR1 A0

#define IR2 A1

AF_DCMotor motor1(1, MOTOR12_1KHZ); 

AF_DCMotor motor2(2, MOTOR12_1KHZ); 

AF_DCMotor motor3(3, MOTOR34_1KHZ);

AF_DCMotor motor4(4, MOTOR34_1KHZ);

char command; 

void setup() 

{       

  Serial.begin(9600);  //Set the baud rate to your Bluetooth module.

  pinMode(IR1, INPUT);

  pinMode(IR2, INPUT);

    

}

void loop(){

  

  /*Serial.print("Right");

    Serial.println(Right);

    Serial.print("Left");

    Serial.println(Left);*/

    

  if(Serial.available() > 0){ 

    command = Serial.read(); 

    Stop(); 

    

    Serial.println(command);

    

    

    switch(command){

    case 'F':  

      forward();

      break;

    case 'B':  

       back();

      break;

    case 'L':  

      left();

      break;

    case 'R':

      right();

      break;

    }

    

    

   

    int Right = digitalRead(IR1);

    int Left = digitalRead(IR2);

    

    if(Right == 1 || Left == 1) {

      motor1.setSpeed(255);

      motor1.run(BACKWARD);

      motor2.setSpeed(255);

      motor2.run(BACKWARD);

      motor3.setSpeed(255);

      motor3.run(BACKWARD);

      motor4.setSpeed(255);

      motor4.run(BACKWARD);

      

    }else if(Right == 0 || Left == 0) {

      command = Serial.read();

    }

 }

}

void forward()

{

  motor1.setSpeed(150); //Define maximum Speed

  motor1.run(FORWARD); //rotate the motor clockwise

  motor2.setSpeed(150); //Define maximum Speed

  motor2.run(FORWARD); //rotate the motor clockwise

  motor3.setSpeed(150);//Define maximum Speed

  motor3.run(FORWARD); //rotate the motor clockwise

  motor4.setSpeed(150);//Define maximum Speed

  motor4.run(FORWARD); //rotate the motor clockwise

}

void back()

{

  motor1.setSpeed(150); //Define maximum Speed

  motor1.run(BACKWARD); //rotate the motor anti-clockwise

  motor2.setSpeed(150); //Define maximum Speed

  motor2.run(BACKWARD); //rotate the motor anti-clockwise

  motor3.setSpeed(150); //Define maximum Speed

  motor3.run(BACKWARD); //rotate the motor anti-clockwise

  motor4.setSpeed(150); //Define maximum Speed

  motor4.run(BACKWARD); //rotate the motor anti-clockwise

}

void left()

{

  motor1.setSpeed(200); //Define maximum Speed

  motor1.run(BACKWARD); //rotate the motor anti-clockwise

  motor2.setSpeed(200); //Define maximum Speed

  motor2.run(BACKWARD); //rotate the motor anti-clockwise

  motor3.setSpeed(200); //Define maximum Speed

  motor3.run(FORWARD);  //rotate the motor clockwise

  motor4.setSpeed(200); //Define maximum Speed

  motor4.run(FORWARD);  //rotate the motor clockwise

}

void right()

{

  motor1.setSpeed(200); //Define maximum Speed

  motor1.run(FORWARD); //rotate the motor clockwise

  motor2.setSpeed(200); //Define maximum Speed

  motor2.run(FORWARD); //rotate the motor clockwise

  motor3.setSpeed(200); //Define maximum Speed

  motor3.run(BACKWARD); //rotate the motor anti-clockwise

  motor4.setSpeed(200); //Define maximum Speed

  motor4.run(BACKWARD); //rotate the motor anti-clockwise

} 

void Stop()

{

  motor1.setSpeed(0); //Define minimum Speed

  motor1.run(RELEASE); //stop the motor when release the button

  motor2.setSpeed(0); //Define minimum Speed

  motor2.run(RELEASE); //rotate the motor clockwise

  motor3.setSpeed(0); //Define minimum Speed

  motor3.run(RELEASE); //stop the motor when release the button

  motor4.setSpeed(0); //Define minimum Speed

  motor4.run(RELEASE); //stop the motor when release the button

}