Line_Following.ino

//Line Tracking IO define
#define LT_RBlack !digitalRead(10)
#define LT_MBlack !digitalRead(4)
#define LT_LBlack !digitalRead(2)

#define LT_RWhite digitalRead(10)
#define LT_MWhite digitalRead(4)
#define LT_LWhite digitalRead(2)

#define ENB 5 //defines motor driver
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define ENA 6

#define carSpeed 220

void forward(){
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("go forward!");
}

void back(){
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("go back!");
}

void left(){
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("go left!");
}

void right(){
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW); 
  Serial.println("go right!");
} 

void Stop(){
   digitalWrite(ENA, LOW);
   digitalWrite(ENB, LOW);
   Serial.println("Stop!");
} 

void setup(){
  Serial.begin(9600);
}

void loop() {
  if(LT_MBlack){
   delay(250);
   Stop();
   delay(500);
   back();
   delay(1500);
   while (LT_MBlack);
  }
  else {
    forward();
  }
}