3 мэдрэгчтэй шоо цуглуулах робот код

int ir1=A0; int ir2=A1; int ir3=A2; int count=0;   boolean state = true; int enA = 6;   //motoriin hurd tohiruulah int in1 = 8; int in2 = 7; // Zuun motor

int enB = 11;//motoriin hurd tohiruulah

int in3 = 10;

int in4 = 9;

int t=0;

int f=1;

void setup() {

  Serial.begin(9600);

  pinMode(enA, OUTPUT);

  pinMode(enB, OUTPUT);

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

  pinMode(ir1,INPUT);

  pinMode(ir2,INPUT);

  pinMode(ir3,INPUT);

}

void loop() {

if(digitalRead(ir1)==t && digitalRead(ir2)==t && digitalRead(ir3)==t){uragshaa();} //bugd tsagaan 1111 bol yav

else if(digitalRead(ir1)==f && digitalRead(ir2)==f && digitalRead(ir3)==f){uragshaa();} //bugd har 0000 bol zogs

else if(digitalRead(ir1)==t && digitalRead(ir2)==f && digitalRead(ir3)==t){uragshaa();} //101 bol chigeerei

else if(digitalRead(ir1)==f && digitalRead(ir2)==t && digitalRead(ir3)==t){baruun();}//011

else if(digitalRead(ir1)==t && digitalRead(ir2)==t && digitalRead(ir3)==f){zuun();}//110

 if (digitalRead(ir1) && digitalRead(ir2) && digitalRead(ir3) && state){  

    count++;  

    state = false;  

    Serial.print("Count: ");  

    Serial.println(count);

if(count==3){zogs();delay(10000);}

   

     }  

   

  if (!digitalRead(ir1)&&!digitalRead(ir2)&&!digitalRead(ir3))   //1111 bugd tsagaan  

  {  

    state = true;  

  delay(100);  

  }  

       }

void uragshaa(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

}

void hoishoo(){

  analogWrite(enA, 250);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 250);  

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

}

void zogs(){  

  digitalWrite(in1, LOW);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, LOW);

}

void baruun(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, LOW);

}

void zuun(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, LOW);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

}

void baruun1(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

}

void zuun1(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

}

void tooloh(){

if (!digitalRead(ir1) && !digitalRead(ir2) && !digitalRead(ir3) && state){  

    count++;  

    state = false;  

    Serial.print("Count: ");  

    Serial.println(count);

   

     }  

   

  if (digitalRead(ir1)&&digitalRead(ir2)&&digitalRead(ir3))   //1111 bugd tsagaan  

  {  

    state = true;  

  delay(100);  

  }  

}

IR sensor test

 void setup()

{ Serial.begin(9600);   //Necessary to set up Serial port

}  

void loop()

{ Serial.print(analogRead(0));

Serial.print(' ');

Serial.print(analogRead(1));

Serial.print(' ');

Serial.print(analogRead(2));

Serial.print(' ');

Serial.print(analogRead(3));

Serial.print(' ');

Serial.print(analogRead(4));

Serial.println(' ');

delay(800);              //Set the number to change frequency of readings.        

  }

Shugam dagadag robot PID

 #include <QTRSensors.h>

QTRSensors qtrrc((unsigned char[]) {A0, A1, A2, A3, A4, A5, A6, A7},  // sensor inputs

                 8, // number of sensors

                 2500, // timeout

                 EMITTER_PIN);  // emitter pin

// Motor pins

const int motor1Pin1 = 9;

const int motor1Pin2 = 10;

const int motor2Pin1 = 11;

const int motor2Pin2 = 12;

// PID constants

float Kp = 0.2;

float Ki = 0.001;

float Kd = 0.1;

float error, lastError, errorSum;

void setup() {

  // Initialize serial communication

  Serial.begin(9600);

  // Initialize QTR sensors

  qtrrc.setTypeRC();

  // Initialize motor pins as outputs

  pinMode(motor1Pin1, OUTPUT);

  pinMode(motor1Pin2, OUTPUT);

  pinMode(motor2Pin1, OUTPUT);

  pinMode(motor2Pin2, OUTPUT);

}

void loop() {

  // Read sensor values

  unsigned int sensorValues[8];

  qtrrc.read(sensorValues);

  // Calculate error (simplified example)

  error = sensorValues[2] - (sensorValues[0] + sensorValues[4]) / 2;

  // Calculate PID output

  float P = Kp * error;

  float I = Ki * errorSum;

  float D = Kd * (error - lastError);

  float output = P + I + D;

  // Control motors

  if (output > 0) {

    // Turn right

    digitalWrite(motor1Pin1, HIGH);

    digitalWrite(motor1Pin2, LOW);

    digitalWrite(motor2Pin1, LOW);

    digitalWrite(motor2Pin2, HIGH);

  } else if (output < 0) {

    // Turn left

    digitalWrite(motor1Pin1, LOW);

    digitalWrite(motor1Pin2, HIGH);

    digitalWrite(motor2Pin1, HIGH);

    digitalWrite(motor2Pin2, LOW);

  } else {

    // Go straight

    digitalWrite(motor1Pin1, HIGH);

    digitalWrite(motor1Pin2, LOW);

    digitalWrite(motor2Pin1, HIGH);

    digitalWrite(motor2Pin2, LOW);

  }

  lastError = error;

  errorSum += error;

}

Shugam tooloh

1 мэдрэгтэй үед

 int ir1=2;  

int count=0;  

 boolean state = true;  

 void setup()  

 {  

  Serial.begin(9600);  

  pinMode(ir1, INPUT);  

 }  

 void loop()  

 {  

  if (!digitalRead(ir1) && state){  

    count++;  

    state = false;  

    Serial.print("Count: ");  

    Serial.println(count);  

     }  

  if (digitalRead(ir1))  

  {  

    state = true;  

    delay(100);  

  }  

 }  

----------------------------------------------------------------------------------

5 мэдрэгтэй үед

 int ir1=2;  

  int ir2=3;

  int ir3=4;

  int ir4=5;

  int ir5=6;

 int count=0;  

 boolean state = true;  

 void setup()  

 {  

  Serial.begin(9600);  

  pinMode(ir1, INPUT);  

   pinMode(ir2, INPUT);  

   pinMode(ir3, INPUT);  

   pinMode(ir4, INPUT);  

   pinMode(ir5, INPUT);  

  }  

 void loop()  

 {  

  if (!digitalRead(ir1) && !digitalRead(ir2) && !digitalRead(ir3) && !digitalRead(ir4) && !digitalRead(ir5) && state){  

    count++;  

    state = false;  

    Serial.print("Count: ");  

    Serial.println(count);  

     }  

  if (digitalRead(ir1)&&digitalRead(ir2)&&digitalRead(ir3)&&digitalRead(ir4)&&digitalRead(ir5))  

  {  

    state = true;  

    delay(100);  

  }  

 }  

ОБЬЕКТ ТООЛОХ

 int irs = 7;

int counter = 0;

void setup()
{
  Serial.begin(9600);
  pinMode(irs,INPUT);
}

void loop()
{
  while(digitalRead(irs)==LOW)
  {
    counter++;
    Serial.print("Count: ");
    Serial.println(counter);
    delay(2000);
  }
}

https://vsa.edu.in/b7-object-counter-using-serial-monitor/