#include

#include // include Seeed Studio ultrasonic ranger library #include // header file needed for I2C commands

DualVNH5019MotorShield md; // md is a class of the motor drive

#define LeftMotor md.setM1Speed

#define RightMotor md.setM2Speed

#define leftrangerpin 5

#define rightrangerpin 3

#define rearrangerpin 11

// All these trigger level values should be try & error to fine tune as differenct robot has vary performance.

#define IR_SENSOR_OBJECT_TRIGGER_LEVEL 20

#define LEFT_ULTRA_SENSOR_OBJECT_TRIGGER_LEVEL 15

#define RIGHT_ULTRA_SENSOR_OBJECT_TRIGGER_LEVEL 25

#define REAR_ULTRA_SENSOR_OBJECT_TRIGGER_LEVEL 20

Ultrasonic ultrasonic_left(leftrangerpin);

Ultrasonic ultrasonic_right(rightrangerpin); Ultrasonic ultrasonic_rear(rearrangerpin);

// Parameter and variables declaration.

int IRpin = 3; // analog pin for reading the IR sensor [ADC]

const int DrvPinCW = 3 ; // pin3 attached to the pin A of L293 const int DrvPinAW = 9 ; // pin9 attached to the pin B of L293 const int DrvPinEN = 4 ; // pin4 attached to the Enable pin of L293

const int encA = 21 ;

// IR sensor variables and parameter. int IRsensor_detected_Range = 0;

void setup()

{

// Serial Monitor setup.

Serial.begin(115200);

Serial.println("Differential Drive control");

// Motor driver setup. // initialise the motor driver. md.init();

// initialize the DrvPinCW and DrvPinAW as output:

pinMode(DrvPinCW, OUTPUT ); pinMode(DrvPinAW, OUTPUT );

pinMode(DrvPinEN, OUTPUT);

}

void TestingLoop()

{

while (true)

{

int sensorDistance; int leftranger; int rightranger;

int rearranger;

leftranger = ultrasonic_left.MeasureInCentimeters(); rightranger = ultrasonic_right.MeasureInCentimeters(); rearranger = ultrasonic_rear.MeasureInCentimeters();

Serial.print(" left/right/rear Sensor value is ");

Serial.print(leftranger);

Serial.print("/");

Serial.print(rightranger);

Serial.print("/");

Serial.println(rearranger);

sensorDistance = Get_IR_SensorRange();

Serial.print("IR Sensor value is "); Serial.println(sensorDistance);

delay(500);

}

}

void loop()

{

bool obstacle_Infront = false; bool obstacle_left = false; bool obstacle_right = false; float left_ultrasonic_dist = Get_left_UltraSonic_SensorRange(); float right_ultrasonic_dist = Get_right_UltraSonic_SensorRange();

// Check any obtacles in front of the robot

// Left turn 90 degree or Right turn 90 degree, recheck the robot front, // Move forward if no obtacle in front.

//TestingLoop(); // This is only testing loop, comment it or block it if you want to run your real code.

obstacle_Infront = Is_IR_Sense_Obstacle_Infront(); obstacle_left = Is_Left_UltraSensor_detect_Obstacle(); obstacle_right = Is_Right_UltraSensor_detect_Obstacle();

// for checking sensor status

Serial.print(obstacle_left);

Serial.print(" ");

Serial.print(obstacle_Infront);

Serial.print(" ");

Serial.println(obstacle_right) ;

if (obstacle_left)

{

TurnRight_90Deg();

}

MoveForward();

Serial.println("forward");

}

bool Is_Left_UltraSensor_detect_Obstacle()

{

bool ans = false;

if( Get_left_UltraSonic_SensorRange() < LEFT_ULTRA_SENSOR_OBJECT_TRIGGER_LEVEL )

{

ans = true;

}

return(ans);

}

bool Is_Right_UltraSensor_detect_Obstacle()

{

bool ans = false;

if( Get_right_UltraSonic_SensorRange() < RIGHT_ULTRA_SENSOR_OBJECT_TRIGGER_LEVEL )

{

ans = true;

}

return(ans);

}

bool Is_Rear_UltraSensor_detect_Obstacle()

{

bool ans = false;

if( Get_rear_UltraSonic_SensorRange() < REAR_ULTRA_SENSOR_OBJECT_TRIGGER_LEVEL )

{

ans = true;

}

return(ans);

}

bool Is_IR_Sense_Obstacle_Infront()

{

bool ans = false;

float IRsensor_detected_Range;

IRsensor_detected_Range = Get_IR_SensorRange();

if( IRsensor_detected_Range < IR_SENSOR_OBJECT_TRIGGER_LEVEL) // There is obstacle in front of the robot.

{

ans = true;

}

return (ans);

}

void TurnLeft_90Deg()

{

LeftMotor(200); RightMotor(200);

delay(200);

}

void TurnRight_90Deg()

{

LeftMotor(-200); RightMotor(-200);

delay(200);

}

void MoveForward()

{

LeftMotor(-200);

RightMotor(200);

}

void MoveBack()

{

LeftMotor(200);

RightMotor(-200);

}

void MoveRight()

{

LeftMotor(-200);

RightMotor(-200);

}

void MoveLeft()

{

LeftMotor(200);

RightMotor(200);

}

void justStop()

{

LeftMotor(0);

RightMotor(0);

}

void moveOnSpot()

{

LeftMotor(200);

RightMotor(200);

}

float Get_IR_SensorRange()

{

float volts = analogRead(IRpin) * 0.0048828125; // why multiply 0.0048828125? (5v/1024) float distance = 29.988 * pow(volts, -1.173); // for model 2Y0A21. return (distance);

}

float Get_left_UltraSonic_SensorRange()

{

int leftranger;

leftranger = ultrasonic_left.MeasureInCentimeters();

return (leftranger);

}

float Get_right_UltraSonic_SensorRange()

{

int rightranger;

rightranger = ultrasonic_right.MeasureInCentimeters();

return (rightranger);

}

float Get_rear_UltraSonic_SensorRange()

{

int rearranger;

rearranger = ultrasonic_rear.MeasureInCentimeters();

return (rearranger);

}

Can help me to fix this code i don't know why i keep getting errors every time.