Robot_turnLeft.ino

/*
 * Turn Left by Pedro A. Melendez
 * 
 * every time the robot encounters a wall turn left if is to close reverses 
 * 
 * 
 * */

const int proximitySensor = A0;  // Analog input pin that the potentiometer is attached to
const int ledPin = 13;           // integrated LED on the Arduino Leonardo
    
const int rightForward = 11;
const int rightReverse = 10;
const int rightSpeedPin = 9;   //pwm

const int leftForward = 5;
const int leftReverse = 4;
const int leftSpeedPin = 3;    //pwm

const int leftSpeedForward = 200;
const int rightSpeedForward = 200;

const int leftSpeedBackward = 128;
const int rightSpeedBackward = 128;


void stopBot()
{
    digitalWrite(rightForward, LOW);
    digitalWrite(rightReverse, LOW);
    digitalWrite(leftForward, LOW);
    digitalWrite(leftReverse, LOW);
    analogWrite(rightSpeedPin, 0);
    analogWrite(leftSpeedPin, 0);
}

void goStraight(){
    digitalWrite(rightForward, HIGH);
    digitalWrite(rightReverse, LOW);
    digitalWrite(leftForward, HIGH);
    digitalWrite(leftReverse, LOW);
    analogWrite(rightSpeedPin, rightSpeedForward);
    analogWrite(leftSpeedPin, leftSpeedForward);
}

void turnLeft(){
    digitalWrite(rightForward, LOW);
    digitalWrite(rightReverse, LOW);
    digitalWrite(leftForward, LOW);
    digitalWrite(leftReverse, HIGH);
    analogWrite(rightSpeedPin, 0);
    analogWrite(leftSpeedPin, leftSpeedForward);
    delay(1000);
    stopBot();
}

void goBack()
{
    digitalWrite(rightForward, LOW);
    digitalWrite(rightReverse, HIGH);
    digitalWrite(leftForward, LOW);
    digitalWrite(leftReverse, HIGH);
    analogWrite(rightSpeedPin, rightSpeedBackward);
    analogWrite(leftSpeedPin, leftSpeedForward);
} 


void setup() {
    Serial.begin(9600);
    pinMode(rightForward, OUTPUT);
    pinMode(rightReverse, OUTPUT);
    pinMode(leftForward, OUTPUT);
    pinMode(leftReverse, OUTPUT);

    stopBot(); // initializes pins
}

void loop() {
    // read distance
    int sensorValue = analogRead(proximitySensor);
    
    if(sensorValue < 400) {
        goStraight();
        delay(1);
    }
    else {
        stopBot();
        goBack();
        while(analogRead(proximitySensor) > 200) { delay(1); }
        turnLeft();
        stopBot();
    }    
}