Bot Design

Down select design we used

Robot Drawing

Robot Multi-View

Battery Box Drawing

Motor Bracket Drawing

Sensor Bracket Drawing

Exploded View

Line Follower, Edge Detection and Bumper Code

#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"

#define senseDark 500
#define senselite 100
#define motorSpeed 100
//The following 3 lines of code create the motorshield and tells what the motors
//objects are and tells what ports the motors will be attached to in the motorshield
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *motor1 = AFMS.getMotor(1);
Adafruit_DCMotor *motor2 = AFMS.getMotor(2);

int vlinl;
int vlinc;
int vlinr;

void setup(){
  //begin the serial to be able to read values and debug
  Serial.begin(9600);
  AFMS.begin(1.6);
  //"starting up" the motors
  motor1->setSpeed(motorSpeed);
  motor1->run(FORWARD);
  motor2->setSpeed(motorSpeed);
  motor2->run(FORWARD);
  motor1->run(RELEASE);
  motor2->run(RELEASE);
  delay(1000);
}

void loop(){
  readSensors();
  //if both sensors are light, go straight
  if (vlinl < senselite && vlinr < senselite){
    stopSet();
    motor1->run(BACKWARD);
    motor2->run(BACKWARD);
  }
  //if right sensor goes dark, turn right
  if (vlinl < senselite && vlinr > senseDark){
    stopSet();
    motor1->run(BACKWARD);
    motor2->run(FORWARD);
    delay(250);
  }
  //if left sensor goes dark, turn left
  if (vlinl > senseDark && vlinr < senselite){
    stopSet();
    motor1->run(FORWARD);
    motor2->run(BACKWARD);
    delay(250);
  }
}

void readSensors(){
  //writing the values of the analog sensors into variables to determine cases for turning and going straight
  vlinl = analogRead(A0);
  vlinc = analogRead(A1);
  vlinr = analogRead(A2);
}

void stopSet(){
  //code to stop the motor and reset its speed in case it encounters a change in conditions
  motor1->run(RELEASE);
  motor2->run(RELEASE);
  motor1->setSpeed(motorSpeed);
  motor2->setSpeed(motorSpeed);
}

//including all the required libraries for the motors
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
//more convenient and accurate to change a value once and have it propagate than to have to change it
//many times
#define senseDark 500
#define motorSpeed 100
//creating the motor "objects"
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *motor1 = AFMS.getMotor(1);
Adafruit_DCMotor *motor2 = AFMS.getMotor(2);
//initializing the pins for the bumpers and the led (led for debugging purposes)
int buml = 6;
int bumr = 10;
int led = 13;
//declaring variables to store values of sensors
int vlinl;
int vlinc;
int vlinr;
int vbuml;
int vbumr;

void setup(){
  //setting up for debugging (by reading sensor values through the serial)
  Serial.begin(9600);
  AFMS.begin(1.6);
  //"starting up" the motors
  motor1->setSpeed(motorSpeed);
  motor1->run(FORWARD);
  motor2->setSpeed(motorSpeed);
  motor2->run(FORWARD);
  motor1->run(RELEASE);
  motor2->run(RELEASE);
  //setting the pin mode for the bumpers
  pinMode(buml, INPUT);
  pinMode(bumr, INPUT);
  pinMode(led, OUTPUT);
  digitalWrite(led, HIGH);
  delay(1000);
}

void loop(){
  readSensors();
  //running the motors if if cases fail
  motor1->setSpeed(motorSpeed);
  motor2->setSpeed(motorSpeed);
  //if any of the sensors lose feedback, stop and turn around
  if (vlinc > senseDark){
    rotate();
  }
  //if either bumper is triggered, stop and turn
 
  if (vbuml == HIGH){
    Serial.println(vbuml);
    rotate();
  }
  if (vbumr == HIGH){
    Serial.println(vbumr);
    rotate();
  }
  else{
  motor1->run(BACKWARD);
  motor2->run(BACKWARD);
  }
}
//function to add sensor values to working variables
void readSensors(){
  vbuml = digitalRead(buml);
  vbumr = digitalRead(bumr);
  vlinl = analogRead(A0);
  vlinc = analogRead(A1);
  vlinr = analogRead(A2);
  //In case something is wrong with the robot, we can see what values the sensors have
  //if we connect the bot to a monitor or if we read the serial output through the ide
  //Serial.println(vlinl);
  //Serial.println(vlinc);
  //Serial.println(vlinr);
 
}
//function for stopping both motors, backing up and turning right
void rotate(){
  motor1->run(RELEASE);
  motor2->run(RELEASE);
  motor1->setSpeed(motorSpeed);
  motor2->setSpeed(motorSpeed);
  motor1->run(FORWARD);
  motor2->run(FORWARD);
  delay(2000);
  motor1->run(RELEASE);
  motor2->run(RELEASE);
  motor1->setSpeed(motorSpeed);
  motor2->setSpeed(motorSpeed);
  motor1->run(BACKWARD);
  motor2->run(FORWARD);
  delay (3000);
}