Linba (General Line Following Robot)

//values for positions of servo horn from left to right - 13,90,178
#include <Servo.h> //include the servo library

//define the enable lines
#define enable1 3
#define enable2 6

//define the inputs
#define input1 11
#define input2 12
#define input3 8
#define input4 7

//Create an object for servo
Servo sweepServo;

//set up variable for speed control,delay time, and reading value
int spControl = 200;
int del = 1000;
int servoAngle = 0;

//set up boolean of blackline
bool black = true;
bool check = false;

void setup() {
  //set up motor control pins
  pinMode(input1, OUTPUT);
  pinMode(input2, OUTPUT);
  pinMode(input3, OUTPUT);
  pinMode(input4, OUTPUT);

  //set up servo
  sweepServo.attach(5);

  //set up starting position of servo horn
  sweepServo.write(110);

  //used for printing values of photoresistor
  Serial.begin(9600);


}
//function for moving forward
void forward() {
  //set speed for the motor
  analogWrite(enable1, spControl);
  analogWrite(enable2, spControl);
  //set directions of the motor
  digitalWrite(input1, LOW);
  digitalWrite(input2, HIGH);
  digitalWrite(input3, HIGH);
  digitalWrite(input4, LOW);
}

//function for turning to the right
void turnRight() {
  //set speed for the motor
  analogWrite(enable1, 255);
  analogWrite(enable2, 255);
  //set directions of the motor
  digitalWrite(input1, HIGH);
  digitalWrite(input2, LOW);
  digitalWrite(input3, HIGH);
  digitalWrite(input4, LOW);
}

//function for stopping
void motorStop() {
  analogWrite(enable1, 0);
  analogWrite(enable2, 0);
  digitalWrite(input1, LOW);
  digitalWrite(input2, LOW);
  digitalWrite(input3, LOW);
  digitalWrite(input4, LOW);
}

//function for turning left
void turnLeft() {
  //set speed for the motor
  analogWrite(enable1, 255);
  analogWrite(enable2, 255);
  //set directions of the motor
  digitalWrite(input1, LOW);
  digitalWrite(input2, HIGH);
  digitalWrite(input3, LOW);
  digitalWrite(input4, HIGH);
}

//function for checking the status of the sensor
boolean isBlack() {
  if (analogRead(A0) >= 100) {
    black = true;
  } else {
    black = false;
  }
  return black;
}


void loop() {
 check = isBlack();
 delay(500);
 motorStop();
 //sweep the servo to find the black line
 for(int x = 180; x >=13; x--){
  sweepServo.write(x);
  delay(100);
  check = isBlack();
  delay(50);
  if(check == true){
    servoAngle = x;
    x = 12;
  }
 }sweepServo.write(110);
 delay(100);
 check = isBlack();
 delay(500);
 if(check == true){
  while(check == true){
    forward();
    delay(100);
    motorStop();
    delay(100);
    check = isBlack();
    delay(50);
  }
 }else{
  if(servoAngle > 110){
  while(check == false){
    turnRight();
    delay(100);
    motorStop();
    delay(100);
    check = isBlack();
    delay(50);
  }
 }else if (servoAngle < 110){
  while(check == false){
    turnLeft();
    delay(100);
    motorStop();
    delay(100);
    check = isBlack();
    delay(50);
  }   
  }
 }
 
 
  
  

/*//This code below is used to record the measurements of the light sensor for the environment
    Serial.println(analogRead(A0));
    delay(1000);*/
}