Manual

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VISampleCodeforDFRobotShopRover
//***************************************************************************************************************************
// DFRobotShop Rover Line Sensor Arduino Sample Code
//
// Author : BD
// Creation date: September 1, 2015
// Subject: This Arduino Code intended to use the DFRobotShop Rover Line Sensor with the DFRbotoShop
// Rover to follow a black line on a white background
//***************************************************************************************************************************
int rsensor = 2; // Left Sensor on Analog Pin 2
int lsensor = 1; // Right Sensor on Analog Pin 1
int msensor = 0; // Middle Sensor on Analog Pin 0
int E1 = 6; //M1 Speed Control
int E2 = 5; //M2 Speed Control
int M1 = 8; //M1 Direction Control
int M2 = 7; //M2 Direction Control
const int whitelevl = 600; // reading level is white if <600
const int blacklevl = 850; // reading level is black if >850
void setup() {
Serial.begin(9600);
}
void loop() {
// Case 1: Left sensor and right sensors are reading white and middle sensor is reading black. Drive forward!
if (readQD(lsensor) < whitelevl && readQD(msensor)> blacklevl && readQD(rsensor) < whitelevl)
{
goforward();
}
// Case 2 : Left sensor and middle sensor are reading white and right sensor is reading black. Turn right!
else if (readQD(lsensor) < whitelevl && readQD(msensor)< whitelevl && readQD(rsensor) > blacklevl)
{
while(true)
{
turnright();
if ((readQD(lsensor) < whitelevl && readQD(msensor)> blacklevl && readQD(rsensor) < whitelevl) ||
(readQD(lsensor)> blacklevl && readQD(msensor)> blacklevl && readQD(rsensor) < whitelevl))
{break;} // Break if Left sensor and right sensor are reading white and middle sensor is reading black
}
}
// Case 3 : Left sensor is reading white, middle sensor and right sensor are reading black. Turn right!
else if (readQD(lsensor) < whitelevl && readQD(msensor)> blacklevl && readQD(rsensor) > blacklevl)
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