Notes

#include <QTRSensors.h>

#define Kp .1
#define Kd 4
int maksimumhiz = 230;
int hiz = 170;
#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

int a=0;
int c=0;
int d=0;
int e=0;

#define trig2 5 //ENGEL SENSÖRLERİ
#define echo2 4



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



void setup(){


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

pinMode(trig2,OUTPUT);
pinMode(echo2,INPUT);

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



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

delay(2000);


}


void loop(){

int sens2d=analogRead(A0);
int sens3d=analogRead(A1);
int sens4d=analogRead(A2);
int sens5d=analogRead(A3);
int sens6d=analogRead(A4);
int sens7d=analogRead(A5);

digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW); //DÜZ GİTME KOMUTLARI
analogWrite(sagmi,hiz);
analogWrite(solmi,hiz);

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



if(mesafe2>0&&mesafe2<13&&a==0){ /////////////////////////////////
digitalWrite(sagmg,LOW);
digitalWrite(sagmi,LOW);
digitalWrite(solmi,LOW);
digitalWrite(solmg,LOW);
a=1;
}
if(mesafe2>0&&mesafe2<13&&a==1){ //KAPI KOMUTLARI
digitalWrite(sagmg,LOW);
digitalWrite(sagmi,LOW);
digitalWrite(solmi,LOW);
digitalWrite(solmg,LOW);
}

while(mesafe2>13&&a==1){
digitalWrite(sagmg,LOW);
digitalWrite(sagmi,LOW);
digitalWrite(solmi,LOW);
digitalWrite(solmg,LOW);
delay(500);
a=2;
break;
} ///////////////////////////////////




while((sens2d<300||sens3d<300||sens4d<300||sens5d<300||sens6d<300||sens7d<300)&&c==0){
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);

int sens2d=analogRead(A0);
int sens3d=analogRead(A1);
int sens4d=analogRead(A2);
int sens5d=analogRead(A3);
int sens6d=analogRead(A4);
int sens7d=analogRead(A5);

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




if(mesafe2<13&&mesafe2>0&&a==2){
c=1;
a=3;
break;
}



if((sens5d<300&&sens6d<300&&sens7d<300&&a==5)||(sens4d<300&&sens5d<300&&sens6d<300&&sens7d<300&&a==5)){
a=6;
c=1;
break;
}
if((sens2d<300&&sens3d<300&&sens4d<300&&a==8)||(sens2d<300&&sens3d<300&&sens4d<300&&sens5d<300&&a==8)||(sens2d<300&&sens3d<300&&sens4d<300&&sens5d<300&sens6d<300&&a==8)){
a=9;
c=1;
break;
}

if(sens2d>300&&sens3d>300&&sens4d>300&&sens5d>300&&sens6d>300&&sens7d>300&&a==11){
a=12;
c=1;
break;

}

}

while(a==3&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,LOW);
analogWrite(solmi,hiz);
delay(900);

digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,hiz);
delay(500);

digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,250);
analogWrite(solmi,100);
delay(300);

a=4;
break;

}

while(a==4&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,250);
analogWrite(solmi,120);

int sens2d=analogRead(A0);
int sens3d=analogRead(A1);
int sens4d=analogRead(A2);
int sens5d=analogRead(A3);
int sens6d=analogRead(A4);
int sens7d=analogRead(A5);

if(sens2d<300||sens3d<300||sens4d<300||sens5d<300||sens6d<300||sens7d<300){
c=0;
a=5;
break;
}
}


while(a==6&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,hiz);
delay(200);

digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,LOW);
analogWrite(solmi,hiz);
delay(200);

a=7;
break;

}

while(a==7&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,LOW);
analogWrite(solmi,hiz);

int sens2d=analogRead(A0);
int sens3d=analogRead(A1);
int sens4d=analogRead(A2);
int sens5d=analogRead(A3);
int sens6d=analogRead(A4);
int sens7d=analogRead(A5);

if(sens4d<300||sens5d<300){
c=0;
a=8;
break;
}

}


while(a==9&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,hiz);
delay(200);

digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,LOW);
delay(200);

a=10;
break;

}

while(a==10&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,LOW);

int sens2d=analogRead(A0);
int sens3d=analogRead(A1);
int sens4d=analogRead(A2);
int sens5d=analogRead(A3);
int sens6d=analogRead(A4);
int sens7d=analogRead(A5);

if(sens4d<300||sens5d<300){
c=0;
a=11;
break;
}

}




while(a==12&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,hiz);
delay(200);

a=13;
break;

}

while(a==13&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,hiz);

int sens2d=analogRead(A0);
int sens3d=analogRead(A1);
int sens4d=analogRead(A2);
int sens5d=analogRead(A3);
int sens6d=analogRead(A4);
int sens7d=analogRead(A5);

if(sens2d<300&&sens3d<300&&sens4d<300&&sens5d<300&&sens6d<300&&sens7d<300){
a=14;
break;
}
}

while(a==14&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,hiz);
analogWrite(solmi,hiz);
delay(500);

a=15;
break;
}

while(a==15&&c==1){
digitalWrite(solmg,LOW);
digitalWrite(sagmg,LOW);
analogWrite(sagmi,LOW);
analogWrite(solmi,LOW);
}




}