Simple Algorithm with code for following straight or smooth curvy black line on white surface.

[hasibkyau]

1. Read the IR data.
2. Analyze the IR values for different position of the car on the track.
3. Find out the pattern for detecting different situation of the black line (Either a straight track or not).
4. Make a simple decision tree for taking different action (Motor movements) based on IR value.

[hasibkyau]

`void FollowTrack() {

if (AIR == 4)//On track { //(A == 0) ? _90dLeft() : (B == 0) ? MedLeft() : (C == 0 ) ? Straight() : ( D == 0 ) ? MedRight() : _90dRight(); (A == 0) ? HardLeft() : (B == 0) ? MedLeft() : (C == 0 ) ? Straight() : ( D == 0 ) ? MedRight() : HardRight(); } else if (AIR == 3) // { if (B == 0) { //(A == 0) ? SharpLeft() : SmoothLeft();//smooth left for C = 0 and B = 0 (C == 0) ? SmoothLeft() : SharpLeft(); } else if (D == 0) { (C == 0) ? SmoothRight() : SharpRight(); }

} else if (AIR == 2 || AIR == 1) { int temp = A; delay(wrt / 8); ReadIR(); //go 1 cm and read the track (AIR == 0) ? DefaultTurn() : ((temp == 1) ? _90dRight() : _90dLeft()); } else if (AIR == 0)//multiple line { DefaultTurn(); } else if (AIR == 5)// White space { //Serial.println("white space!");delay(500); Straight(); //go 14cm forward delay(wrt); Brake(); // Speed 0 with forward gear

ReadIR();
//ReadSonar();

if (AIR < 5) {
  //Serial.println("Track Found"); delay(500);
  Straight(); // if found track. It was a blank track.
}
else if (AIR == 5) // if no track
{
  //Serial.println("No Track Found! Wall checking"); delay(500);
  if (LeftWall <= 50 && RightWall <= 50) // if no track & found walls
  {
    Serial.println("Wall found!"); delay(500);
    // follow walls until the track is founded
    while (AIR == 5){
      ReadIR();
      PassThroughWalls();
    }
    Serial.println("Released from wall!"); delay(500);
  }
  else if (LeftWall >= 100 && RightWall >= 100) {
    //Serial.println("No track and no wall found!"); delay(1000);
    _180dturn(); //if no track and no Side Walls. The track ends here.
  }
}

} }

`