Manual

27 | P a g e
}
void back_off (char a,char b) //Move backward
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void turn_L (char a,char b) //Turn Left
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
}
void turn_R (char a,char b) //Turn Right
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void setup()
{
Serial.begin(9600);
pinMode( A2 , INPUT);
pinMode( A3 , INPUT);
pinMode( A1 , INPUT);
int i;
for(i=6;i<=9;i++)
pinMode(i, OUTPUT);
}
void loop()
{
if (( !( digitalRead( A2) ) || ( ( !( digitalRead( A3) ) &&
( !( digitalRead(A2) ) && !( digitalRead( A1) ) ) ) ||
( !( digitalRead( A3) ) && !( digitalRead( A1) ) ) ) ))//read sensor
from IR distence switch
{
back_off(240,240);