Code Appendix:

//setting up different pins on Arduino

int motor_left = 9, motor_right = 11;
int photo_left = 5, photo_right = 0;
int output_left, output_right;
void setup(){
pinMode(9,OUTPUT); //
pinMode(5,INPUT); //
pinMode(0,INPUT); //
pinMode(11,OUTPUT);//

Output data to left motor

Input data from left photosensor
Input data from right photosensor
Output data to right motor

Serial.begin(9600); //Set data transmisson rate to 9600 bits per second

}
void loop(){
int value_left = analogRead(photo_left); //read input from left photosensor (R
ange: 0-1023)
int value_right = analogRead(photo_right); // read input from right photosenso
r (Range: 0-1023)
if (value_left<400 && value_right<400) //if both photosensors are in dark (man
ually calibrated for linear motion)
{
analogWrite(motor_left,75); //set left motor speed to 75 units (Range: 0-25
5)
analogWrite(motor_right,50); //set right motor speed to 50 units (Range: 0255)
}
if (value_left>400 && value_right<400) //if left photosensor is receiving brig
ht light (left runs faster than right)
{
analogWrite(motor_left,75); //set left motor speed to 75 units (Range: 0-255
)
analogWrite(motor_right,110); //set right motor speed to 110 units (Range: 0
-255)
}
if (value_right>400 && value_left<400) //if right photosensor is receiving bri
ght light (right runs fater than left)
{
analogWrite(motor_left,110); //set left motor speed to 110 units (Range: 0-2
55)
analogWrite(motor_right,75); //set right motor speed to 75 units (Range: 0-2
55)
}
if (value_right>400 && value_left>400) //if both photosensors are in bright li
ght (manually calibrated for linear motion)
{
analogWrite(motor_left,100); //set left motor speed to 100 units (Range: 0-2
55)
analogWrite(motor_right,90); //set right motor speed to 90 units (Range: 0-2
55)
}
{

//block for easier debugging

Serial.print(value_left); //Prints values of left motor at end of each l
oop iteration

Serial.print(","); //Prints comma for ease in reading

Serial.println(value_right); //Prints values of right motor at end of ea
ch loop iteration
}
}