Coding ArduLite Line Follower Robot Deteksi Tikungan Tajam.ino

#include <ArduLite.h>

// Sensors
Digital leftSensor(2, IN);
Digital rightSensor(3, IN);

// DC Motors
PWM leftMotor1(5);
PWM leftMotor2(6);
PWM rightMotor1(9);
PWM rightMotor2(10);

// LED Indicator
Digital led(13, OUT);

// Waktu belok berdasarkan jenis tikungan
const int normalTurnTime = 100;  // Tikungan biasa (ms)
const int sharpTurnTime = 50;   // Tikungan tajam lebih lama (ms)

// Kecepatan motor
const int speedNormal = 200;
const int speedSharp = 255;

void moveForward(int speedValue) {
  leftMotor1.write(speedValue);
  leftMotor2.write(0);
  rightMotor1.write(speedValue);
  rightMotor2.write(0);
}

void stopMotor() {
  leftMotor1.write(0);
  leftMotor2.write(0);
  rightMotor1.write(0);
  rightMotor2.write(0);
}

void turnLeft(int speedValue) {
  leftMotor1.write(0);  // Pastikan motor kiri berhenti
  leftMotor2.write(speedValue);
  rightMotor1.write(speedValue);
  rightMotor2.write(0);
}

void turnRight(int speedValue) {
  leftMotor1.write(speedValue);
  leftMotor2.write(0);
  rightMotor1.write(0);  // Pastikan motor kanan berhenti
  rightMotor2.write(speedValue);
}

void blinkLED(int times, int duration) {
  for (int i = 0; i < times; i++) {
    led.write(HIGH);
    wait(duration);
    led.write(LOW);
    wait(duration);
  }
}

void setup() {
  led.write(LOW);
}

void loop() {
  int leftSensorValue = leftSensor.read();
  int rightSensorValue = rightSensor.read();

  if (!leftSensorValue && !rightSensorValue) {
    moveForward(speedSharp);
  } else if (leftSensorValue && rightSensorValue) {
    stopMotor();
  } else {
    unsigned long startTime = millis();

    if (!leftSensorValue && rightSensorValue) {
      while (!leftSensor.read() && rightSensor.read()) {
        if (millis() - startTime > normalTurnTime) {
          blinkLED(3, 100);  // Kedip LED jika tikungan tajam
          turnRight(speedSharp);
        } else {
          turnRight(speedNormal);
        }
      }
    }

    if (leftSensorValue && !rightSensorValue) {
      while (leftSensor.read() && !rightSensor.read()) {
        if (millis() - startTime > normalTurnTime) {
          blinkLED(3, 100);
          turnLeft(speedSharp);
        } else {
          turnLeft(speedNormal);
        }
      }
    }
  }
}