SunFounder 3in1 Kit - Get Started with Blynk

SunFounder 3in1 Kit
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pinMode(B_1A, OUTPUT);
//IR obstacle
pinMode(leftIR, INPUT);
pinMode(rightIR, INPUT);
leftOffset = EEPROM.read(0) * 0.01;//read the offset of the left motor
rightOffset = EEPROM.read(1) * 0.01;//read the offset of the right motor
}
void loop() {
int left = digitalRead(leftIR); // 0: Obstructed 1: Empty
int right = digitalRead(rightIR);
int speed = 150;
if (!left && right) {
backLeft(speed);
} else if (left && !right) {
backRight(speed);
} else if (!left && !right) {
moveBackward(speed);
} else {
moveForward(speed);
}
}
void moveForward(int speed) {
analogWrite(A_1B, 0);
analogWrite(A_1A, int(speed * leftOffset));
analogWrite(B_1B, int(speed * rightOffset));
analogWrite(B_1A, 0);
}
void moveBackward(int speed) {
analogWrite(A_1B, speed);
analogWrite(A_1A, 0);
analogWrite(B_1B, 0);
analogWrite(B_1A, speed);
}
void backLeft(int speed) {
analogWrite(A_1B, speed);
analogWrite(A_1A, 0);
analogWrite(B_1B, 0);
analogWrite(B_1A, 0);
}
void backRight(int speed) {
analogWrite(A_1B, 0);
analogWrite(A_1A, 0);
analogWrite(B_1B, 0);
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264 Chapter 5. Car Projects