/*

Voltaat learn (https://www.voltaat.com)

The function of this sketch is to controll a robot equipped with light sensors

that enable it to determine the direction of the light source and accurately

track its movement using the Arduino board.

Connections from the Arduino to the breadboard:

• Arduino 5v pin → breadboard 5v line

• Arduino GND pin → breadboard GND line

The connections from the L298N motor driver to the breadboard:

• 5V pin from the motor driver → breadboard 5v line

• GND pin from the motor driver → breadboard GND line

The connections from the battery input to the motor driver:

• Positive terminal of the battery input → +12V port on the motor driver

• Ground terminal of the battery input → Ground (GND) port on the motor driver

Connections from the l298n motor driver :

• ENA pin → Arduino pin 5

• In1 pin → Arduino pin 11

• In2 pin → Arduino pin 10

• In3 pin → Arduino pin 9

• In4 pin → Arduino pin 8

• ENB pin → Arduino pin 6

The connections from the right motors:

• One terminal of the first right motor → One terminal of the second right motor → OUT1 port in the motor driver

• The other terminal of the first right motor → The other terminal of the second right motor → OUT2 port in the motor driver

The connections from the left motors:

• One terminal of the first left motor → One terminal of the second left motor → OUT3 port in the motor driver

• The other terminal of the first left motor → The other terminal of the second left motor → OUT4 port in the motor driver

Connections from the Right Light Sensor:

• The VCC pin of the right light sensor → breadboard 5v line

• The GND pin of the right light sensor → breadboard GND line

• The D0 pin of the right light sensor → Pin A0 on the Arduino board

Connections from the Middle Light Sensor:

• The VCC pin of the middle light sensor → breadboard 5v line

• The GND pin of the middle light sensor → breadboard GND line

• The D0 pin of the middle light sensor → Pin A1 on the Arduino board

Connections from the Left Light Sensor:

• The VCC pin of the left light sensor → breadboard 5v line

• The GND pin of the left light sensor → breadboard GND line

• The D0 pin of the left light sensor → Pin A2 on the Arduino board

*/

#define L1 A0  // المستشعر الأيسر

#define M1 A1  // المستشعر الأوسط

#define R1 A2  // المستشعر الأيمن

#define IN1 11 // L298n Motor Driver pins.

#define IN2 10

#define IN3 9

#define IN4 8

#define ENA 5

#define ENB 6

void setup() {

 // إعداد دبابيس المستشعرات

 pinMode(L1, INPUT);

 pinMode(M1, INPUT);

 pinMode(R1, INPUT);

 // إعداد دبابيس المحركات

 pinMode(ENA, OUTPUT);

 pinMode(IN1, OUTPUT);

 pinMode(IN2, OUTPUT);

 pinMode(ENB, OUTPUT);

 pinMode(IN3, OUTPUT);

 pinMode(IN4, OUTPUT);

 Serial.begin(9600);  // تهيئة الاتصال التسلسلي

}

void loop() {

 int LSensor = digitalRead(L1);  // قراءة قيمة المستشعر الأيسر

 int MSensor = digitalRead(M1); // قراءة قيمة المستشعر الأوسط

 int RSensor = digitalRead(R1); // قراءة قيمة المستشعر الأيمن

 Serial.print("LSensor: ");

 Serial.println(LSensor);

 Serial.print("MSensor: ");

 Serial.println(MSensor);

 Serial.print("RSensor: ");

 Serial.println(RSensor);

 if ((LSensor == 0) && (MSensor == 0) && (RSensor == 0)) {

   // الحركة للأمام

   moveForward(120, 120);

 } else if ((LSensor == 0) && (MSensor == 0) && (RSensor == 1)) {

   // الانعطاف لليسار

   turnLeft(120, 120);

 } else if ((LSensor == 1) && (MSensor == 0) && (RSensor == 0)) {

   // الانعطاف لليمين

   turnRight(120, 120);

 } else if ((LSensor == 1) && (MSensor == 1) && (RSensor == 1)) {

   // التوقف

   stopMotors();

 }

}

// وظيفة لتحريك المحركات للأمام

void moveForward(int speedLeft, int speedRight) {

 analogWrite(ENA, speedLeft);  // ضبط سرعة المحرك الأيسر

 digitalWrite(IN1, HIGH);

 digitalWrite(IN2, LOW);

 analogWrite(ENB, speedRight); // ضبط سرعة المحرك الأيمن

 digitalWrite(IN3, LOW);

 digitalWrite(IN4, HIGH);

}

// وظيفة للانعطاف لليسار

void turnLeft(int speedLeft, int speedRight) {

 analogWrite(ENA, speedLeft);  // عكس المحرك الأيسر

 digitalWrite(IN1, HIGH);

 digitalWrite(IN2, LOW);

 analogWrite(ENB, speedRight); // المحرك الأيمن للأمام

 digitalWrite(IN3, HIGH);

 digitalWrite(IN4, LOW);

}

// وظيفة للانعطاف لليمين

void turnRight(int speedLeft, int speedRight) {

 analogWrite(ENA, speedLeft);  // المحرك الأيسر للأمام

 digitalWrite(IN1, LOW);

 digitalWrite(IN2, HIGH);

 analogWrite(ENB, speedRight); // عكس المحرك الأيمن

 digitalWrite(IN3, LOW);

 digitalWrite(IN4, HIGH);

}

// وظيفة لإيقاف المحركات

void stopMotors() {

 analogWrite(ENA, 0); // إيقاف المحرك الأيسر

 digitalWrite(IN1, LOW);

 digitalWrite(IN2, LOW);

 analogWrite(ENB, 0); // إيقاف المحرك الأيمن

 digitalWrite(IN3, LOW);

 digitalWrite(IN4, LOW);

}

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