Explicación para el seguidor de línea

Robot URFI

Explicación para el seguidor de línea (Pista)

Line-following 

The line sensor is composed of an infrared light-emitting LED diode and a photodiode that detects infrared light. These diodes function as both emitters and receivers of signals, allowing the URFI robot to determine whether it is positioned on or off a line. 

Code and explanation:

1. Library Inclusion:

   • The code begins by including a library called DRV8833. This library allows us to control a motor driver (which manages the motors) using simple instructions.

2. Driver Initialization:

   • Next, we create an instance of the DRV8833 driver and name it driver. Think of this as setting up a virtual motor driver within our program.

3. Pin Declarations:

   • We declare some global integer variables to represent pin numbers:
     • sensorLeft and sensorRight: These are the pins connected to the left and right line follower sensors.
     • motorA1, motorA2, motorB1, and motorB2: These are the pins connected to the motor driver for controlling the motors.
     • We also define the motor speeds (motorSpeedA and motorSpeedB).

4. Setup Function:

   • The setup() function runs once when the program starts.
   • Inside this function:
     • We set the sensorLeft and sensorRight pins as inputs (to read sensor values).
     • We attach the motor pins to the driver instance, which configures them as outputs.
     • We initialize serial communication with the computer at a baud rate of 9600.

5. Loop Function:

   • The loop() function runs repeatedly.
   • Inside this function:
     • We read the values from the left and right sensors (leftValue and rightValue).
     • Based on the sensor readings, we execute different actions:
       • If both sensors detect the line (HIGH-HIGH state), the robot moves forward (moveForward() function).
       • If neither sensor detects the line (LOW-LOW state), the robot moves backward (moveBackward() function).
       • If only the right sensor detects the line (LOW-HIGH state), the robot turns left (turnLeft() function).
       • If only the left sensor detects the line (HIGH-LOW state), the robot turns right (turnRight() function).
     • We also print the sensor values to the serial monitor.