Notes

#include <QTRSensors.h>

// QTR sensör nesnesi
QTRSensors qtr;

// Sensörlerin bağlı olduğu pinler
#define SENSOR_COUNT 8
#define SENSOR_PIN_1 A0
#define SENSOR_PIN_2 A1
#define SENSOR_PIN_3 A2
#define SENSOR_PIN_4 A3
#define SENSOR_PIN_5 A4
#define SENSOR_PIN_6 A5
#define SENSOR_PIN_7 A6
#define SENSOR_PIN_8 A7

// Motor sürücü pinleri
#define LEFT_MOTOR_PIN_1 2
#define LEFT_MOTOR_PIN_2 3
#define RIGHT_MOTOR_PIN_1 4
#define RIGHT_MOTOR_PIN_2 5

void setup() {
// Sensör pinlerini ayarla
unsigned int sensorPins[SENSOR_COUNT] = {SENSOR_PIN_1, SENSOR_PIN_2, SENSOR_PIN_3, SENSOR_PIN_4, SENSOR_PIN_5, SENSOR_PIN_6, SENSOR_PIN_7, SENSOR_PIN_8};
qtr.setTypeRC();
qtr.setSensorPins(sensorPins, SENSOR_COUNT);

// Motor pinlerini çıkış olarak ayarla
pinMode(LEFT_MOTOR_PIN_1, OUTPUT);
pinMode(LEFT_MOTOR_PIN_2, OUTPUT);
pinMode(RIGHT_MOTOR_PIN_1, OUTPUT);
pinMode(RIGHT_MOTOR_PIN_2, OUTPUT);
}

void loop() {
unsigned int sensorValues[SENSOR_COUNT];
qtr.read(sensorValues);

// Sensörlerin durumuna göre hareket et
if (sensorValues[0] > 500 && sensorValues[7] > 500) {
ileriGit();
} else if (sensorValues[0] < 500 && sensorValues[1] > 500) {
solaDon();
} else if (sensorValues[6] > 500 && sensorValues[7] < 500) {
sagaDon();
} else {
dur();
}
}

// İleri git fonksiyonu
void ileriGit() {
digitalWrite(LEFT_MOTOR_PIN_1, HIGH);
digitalWrite(LEFT_MOTOR_PIN_2, LOW);
digitalWrite(RIGHT_MOTOR_PIN_1, HIGH);
digitalWrite(RIGHT_MOTOR_PIN_2, LOW);
}

// Sola dön fonksiyonu
void solaDon() {
digitalWrite(LEFT_MOTOR_PIN_1, LOW);
digitalWrite(LEFT_MOTOR_PIN_2, HIGH);
digitalWrite(RIGHT_MOTOR_PIN_1, HIGH);
digitalWrite(RIGHT_MOTOR_PIN_2, LOW);
}

// Sağa dön fonksiyonu
void sagaDon() {
digitalWrite(LEFT_MOTOR_PIN_1, HIGH);
digitalWrite(LEFT_MOTOR_PIN_2, LOW);
digitalWrite(RIGHT_MOTOR_PIN_1, LOW);
digitalWrite(RIGHT_MOTOR_PIN_2, HIGH);
}

// Dur fonksiyonu
void dur() {
digitalWrite(LEFT_MOTOR_PIN_1, LOW);
digitalWrite(LEFT_MOTOR_PIN_2, LOW);
digitalWrite(RIGHT_MOTOR_PIN_1, LOW);
digitalWrite(RIGHT_MOTOR_PIN_2, LOW);
}