1. #define m1 5  //Right Motor MA1
2. #define m2 4  //Right Motor MA2
3. #define m3 2  //Left Motor MB1
4. #define m4 3  //Left Motor MB2
5. #define e1 11  //Right Motor Enable Pin EA
6. #define e2 10 //Left Motor Enable Pin EB
7.  
8. //**********5 Channel IR Sensor Connection**********//
9. #define ir1 A1
10. #define ir2 A2
11. #define ir3 A3
12. #define ir4 A4
13. #define ir5 A5
14. //*************************************************//
15.  
16. int speed = 150;
17.  
18. void setup() {
19.   pinMode(m1, OUTPUT);
20.   pinMode(m2, OUTPUT);
21.   pinMode(m3, OUTPUT);
22.   pinMode(m4, OUTPUT);
23.   pinMode(e1, OUTPUT);
24.   pinMode(e2, OUTPUT);
25.  
26.   pinMode(ir1, INPUT);
27.   pinMode(ir2, INPUT);
28.   pinMode(ir3, INPUT);
29.   pinMode(ir4, INPUT);
30.   pinMode(ir5, INPUT);
31.  
32. }
33.  
34. void loop() {
35.  
36.   CarTest();
37.  
38.   // //Reading Sensor Values
39.   // int s1 = digitalRead(ir1);  //Left Most Sensor
40.   // int s2 = digitalRead(ir2);  //Left Sensor
41.   // int s3 = digitalRead(ir3);  //Middle Sensor
42.   // int s4 = digitalRead(ir4);  //Right Sensor
43.   // int s5 = digitalRead(ir5);  //Right Most Sensor
44.  
45.   // //if only middle sensor detects black line
46.   // if((s1 == 1) && (s2 == 1) && (s3 == 0) && (s4 == 1) && (s5 == 1))
47.   // {
48.   //   //going forward with full speed
49.   //   Forward(speed);
50.   // }
51.  
52.   // //if only left sensor detects black line
53.   // if((s1 == 1) && (s2 == 0) && (s3 == 1) && (s4 == 1) && (s5 == 1))
54.   // {
55.   //   //going right with full speed
56.   //   Right(speed);
57.   // }
58.  
59.   // //if only left most sensor detects black line
60.   // if((s1 == 0) && (s2 == 1) && (s3 == 1) && (s4 == 1) && (s5 == 1))
61.   // {
62.   //   //going right with full speed
63.   //   Right(speed);
64.   // }
65.  
66.   // //if only right sensor detects black line
67.   // if((s1 == 1) && (s2 == 1) && (s3 == 1) && (s4 == 0) && (s5 == 1))
68.   // {
69.   //   //going left with full speed
70.   //   Left(speed);
71.   // }
72.  
73.   // //if only right most sensor detects black line
74.   // if((s1 == 1) && (s2 == 1) && (s3 == 1) && (s4 == 1) && (s5 == 0))
75.   // {
76.   //   //going left with full speed
77.   //   Left(speed);
78.   // }
79.  
80.   // //if middle and right sensor detects black line
81.   // if((s1 == 1) && (s2 == 1) && (s3 == 0) && (s4 == 0) && (s5 == 1))
82.   // {
83.   //   //going left with full speed
84.   //   Left(speed);
85.   // }
86.  
87.   // //if middle and left sensor detects black line
88.   // if((s1 == 1) && (s2 == 0) && (s3 == 0) && (s4 == 1) && (s5 == 1))
89.   // {
90.   //   //going right with full speed
91.   //   Right(speed);
92.   // }
93.  
94.   // //if middle, left and left most sensor detects black line
95.   // if((s1 == 0) && (s2 == 0) && (s3 == 0) && (s4 == 1) && (s5 == 1))
96.   // {
97.   //   //going right with full speed
98.   //   Right(speed);
99.   // }
100.  
101.   // //if middle, right and right most sensor detects black line
102.   // if((s1 == 1) && (s2 == 1) && (s3 == 0) && (s4 == 0) && (s5 == 0))
103.   // {
104.   //   //going left with full speed
105.   //   Left(speed);
106.   // }
107.  
108.   // //if all sensors are on a black line
109.   // if((s1 == 0) && (s2 == 0) && (s3 == 0) && (s4 == 0) && (s5 == 0))
110.   // {
111.   //   //stop
112.   //   Stop();
113.   // }
114.  
115.   // delay(100);
116. }
117.  
118. void Forward(int speed){
119.   analogWrite(e1, speed); //you can adjust the speed of the motors from 0-255
120.   analogWrite(e2, speed); //you can adjust the speed of the motors from 0-255
121.  
122.   digitalWrite(m1, HIGH);
123.   digitalWrite(m2, LOW);
124.   digitalWrite(m3, HIGH);
125.   digitalWrite(m4, LOW);
126. }
127.  
128. void Backward(int speed){
129.   analogWrite(e1, speed); //you can adjust the speed of the motors from 0-255
130.   analogWrite(e2, speed); //you can adjust the speed of the motors from 0-255
131.  
132.   digitalWrite(m1, LOW);
133.   digitalWrite(m2, HIGH);
134.   digitalWrite(m3, LOW);
135.   digitalWrite(m4, HIGH);
136. }
137.  
138. void Right(int speed){
139.   analogWrite(e1, speed); //you can adjust the speed of the motors from 0-255
140.   analogWrite(e2, speed); //you can adjust the speed of the motors from 0-255
141.  
142.   digitalWrite(m1, HIGH);
143.   digitalWrite(m2, LOW);
144.   digitalWrite(m3, LOW);
145.   digitalWrite(m4, LOW);
146. }
147.  
148. void Left(int speed){
149.   analogWrite(e1, speed); //you can adjust the speed of the motors from 0-255
150.   analogWrite(e2, speed); //you can adjust the speed of the motors from 0-255
151.  
152.   digitalWrite(m1, LOW);
153.   digitalWrite(m2, LOW);
154.   digitalWrite(m3, HIGH);
155.   digitalWrite(m4, LOW);
156. }
157.  
158. void Stop(){
159.   digitalWrite(m1, LOW);
160.   digitalWrite(m2, LOW);
161.   digitalWrite(m3, LOW);
162.   digitalWrite(m4, LOW);
163. }
164.  
165.  
166. void CarTest(){
167.   Forward(150);
168.   delay(1000);
169.  
170.   Backward(150);
171.   delay(1000);
172.  
173.   Right(150);
174.   delay(1000);
175.  
176.   Left(150);
177.   delay(1000);
178.  
179.   Stop();
180.   delay(1000);
181. }