Notes

#include <QTRSensors.h> //SERİ MONİTORLE İŞİN YOKSA SAKIN ACMA ROBOT KAFASINI SALLIYOR
//BEYAZ ZEMİN SİYAH ÇİZGİ VE ÇİZGİ ÜZERİNDE ENGEL VAR ENGELDEN KAÇIP TEKRAR ÇİZGİYE GİRİYOR
#define Kp .1
#define Kd 4
int maksimumhiz = 240;
int hiz = 180;
#define SensorSayisi 6
#define sagmi 11
#define sagmg 6
#define solmi 9
#define solmg 10
int sonhata = 0;
int zemin = 1; //siyah 1 beyaz 0

#define trig1 12
#define echo1 3
#define trig2 5
#define echo2 4
#define trig3 8
#define echo3 7

int engelsayac = 0;
int a=0;
int b=0;
int bsond = 0;
int c =0;



QTRSensorsAnalog qtra((unsigned char[]) {A0,A1,A2,A3,A4,A5} ,SensorSayisi);
unsigned int sensorler[SensorSayisi];



void setup(){
pinMode(trig1,OUTPUT);
pinMode(trig2,OUTPUT);
pinMode(trig3,OUTPUT);
pinMode(echo1,INPUT);
pinMode(echo2,INPUT);
pinMode(echo3,INPUT);


pinMode(sagmi,OUTPUT);
pinMode(sagmg,OUTPUT);
pinMode(solmi,OUTPUT);
pinMode(solmg,OUTPUT);
pinMode(13,OUTPUT);

pinMode(A0,INPUT);
pinMode(A1,INPUT);
pinMode(A2,INPUT);
pinMode(A3,INPUT);
pinMode(A4,INPUT);
pinMode(A5,INPUT);


for (int i = 0; i < 70; i++){
digitalWrite(13,HIGH);
delay(20);
qtra.calibrate();
digitalWrite(13,LOW);
delay(20);
}
delay(2000);




}

void loop(){
int sens2 = analogRead(A0);
int sens3 = analogRead(A1);
int sens4 = analogRead(A2);
int sens5 = analogRead(A3);
int sens6 = analogRead(A4);
int sens7 = analogRead(A5);


digitalWrite(trig1,LOW);
delayMicroseconds(2);
digitalWrite(trig1,HIGH);
delayMicroseconds(10); //SOLDAKİ MESAFE SENSORUNU OKUTTUK
digitalWrite(trig1,LOW);
int sure1 = pulseIn(echo1,HIGH);
int mesafe1 = (sure1/2) / 29.1;


digitalWrite(trig2,LOW);
delayMicroseconds(2);
digitalWrite(trig2,HIGH);
delayMicroseconds(10); //ORTADAKİ MESAFE SENSORUNU OKUTTUK
digitalWrite(trig2,LOW);
int sure2 = pulseIn(echo2,HIGH);
int mesafe2 = (sure2/2) / 29.1;


digitalWrite(trig3,LOW);
delayMicroseconds(2);
digitalWrite(trig3,HIGH);
delayMicroseconds(10); //SAGDAKİ MESAFE SENSORUNU OKUTTUK
digitalWrite(trig3,LOW);
int sure3 = pulseIn(echo3,HIGH);
int mesafe3 = (sure3/2) / 29.1;


digitalWrite(sagmg,LOW);
digitalWrite(solmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,hiz);

if(mesafe2<15&&mesafe2>0){
b=1;
}
else{
b=0;
}

if(b != bsond){
if(b==1){
engelsayac++;
}
delay(50);
bsond=b;
}



while(engelsayac==1&&c==0){
digitalWrite(sagmi,LOW);
digitalWrite(solmg,LOW);
analogWrite(sagmg,hiz);
analogWrite(solmi,hiz);


digitalWrite(trig1,LOW);
delayMicroseconds(2);
digitalWrite(trig1,HIGH);
delayMicroseconds(10); //SOLDAKİ MESAFE SENSORUNU OKUTTUK
digitalWrite(trig1,LOW);
int sure1 = pulseIn(echo1,HIGH);
int mesafe1 = (sure1/2) / 29.1;

if(mesafe1<32&&mesafe1>0){
c=1;
break;
}

}

if(mesafe1<17&&mesafe1>0&&(c==1||c==2)){
digitalWrite(sagmg,LOW);
digitalWrite(solmg,LOW);
analogWrite(sagmi,0);
analogWrite(solmi,hiz);

}


while(engelsayac==2&&c==1){ //Eğer ortadaki mesafe sensoru 25 ten büyükse ve ilk aşama bittiyse bu döngüye gir ve diğer komutlara bakma
digitalWrite(sagmg,LOW);
digitalWrite(solmi,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmg,hiz); //Düz bir şekilde ilerle


digitalWrite(trig3,LOW);
delayMicroseconds(2);
digitalWrite(trig3,HIGH);
delayMicroseconds(10); //SAGDAKİ MESAFE SENSORUNU OKUTTUK
digitalWrite(trig3,LOW);
int sure3 = pulseIn(echo3,HIGH);
int mesafe3 = (sure3/2) / 29.1;

if(mesafe3<32&&mesafe3>0){
c=2;
break;
}

}

if(mesafe3<17&&mesafe3>0&&(c==1||c==2)){
digitalWrite(sagmg,LOW);
digitalWrite(solmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,0);

}


while(sens2<200||sens3<200||sens4<200||sens5<200||sens6<200||sens7<200){

int position = qtra.readLine(sensorler,true,zemin); //1 siyah zemin 0 beyaz zemin


int hata = position - 2500;
int pid = Kp * hata + Kd * (hata - sonhata);
sonhata = hata;

int sagmotorhizi = hiz - pid;
int solmotorhizi = hiz + pid;



if (sagmotorhizi > maksimumhiz){
sagmotorhizi = maksimumhiz;
}
if (solmotorhizi > maksimumhiz ){
solmotorhizi = maksimumhiz;
}
if (sagmotorhizi < 0){
sagmotorhizi = 0;
}

if (solmotorhizi < 0){
solmotorhizi = 0;
}

digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,sagmotorhizi);
analogWrite(solmi,solmotorhizi);


digitalWrite(trig2,LOW);
delayMicroseconds(2);
digitalWrite(trig2,HIGH); //ORTA SENSORU OKUTTUK
delayMicroseconds(10);
digitalWrite(trig2,LOW);
int sure2 = pulseIn(echo2,HIGH);
int mesafe2 = (sure2/2) / 29.1;


if(mesafe2<15&&mesafe2>0){
a=1;
break; //ORTA SENSOR 25 TEN KÜÇÜKSE ÇİZGİ İZLEYEN DÖNGÜSÜNDEN ÇIK
}

}

while(a==1){
digitalWrite(sagmi,LOW);
digitalWrite(solmg,LOW);
analogWrite(sagmg,hiz);
analogWrite(solmi,hiz);


digitalWrite(trig1,LOW);
delayMicroseconds(2);
digitalWrite(trig1,HIGH);
delayMicroseconds(10); //SOLDAKİ MESAFE SENSORUNU OKUTTUK
digitalWrite(trig1,LOW);
int sure1 = pulseIn(echo1,HIGH);
int mesafe1 = (sure1/2) / 29.1;

if(mesafe1<35&&mesafe1>0){
a=0;
break;
}

}


}