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CG_Bot_Line_Follower.ino

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+#include <MotorDriver.h>  // Including motor driver library
+
+int Left;   // Declaring Left IR sensor variable
+int Right;  // Declaring Right IR sensor variable
+
+MotorDriver m;
+
+void setup() {
+  pinMode(A2, INPUT);    // Left IR sensor connected to A2
+  pinMode(A3, INPUT);    // Right IR sensor connected to A3
+  Serial.begin(9600);    // Initialize Serial Monitor to view outputs
+}
+
+void loop() {
+  // Read sensor values
+  Left = digitalRead(A2);     // Store Left IR sensor reading in Left variable
+  Right = digitalRead(A3);    // Store Right IR sensor reading in Right variable
+
+  // Print sensor readings to Serial Monitor
+  Serial.print("Left Sensor: ");
+  Serial.print(Left);
+  Serial.print(" | Right Sensor: ");
+  Serial.println(Right);
+
+  // Movement logic based on sensor input
+  if (Left && Right) { // Both sensors detect black, move forward
+    Serial.println("Action: Moving Forward");
+    m.motor(1, FORWARD, 255);   // Move forward at speed 255
+    m.motor(4, FORWARD, 255);
+
+  } else if (!Left && Right) { // Left detects white, Right detects black, turn right
+    Serial.println("Action: Turning Right");
+    m.motor(1, BACKWARD, 255);  // Turn right by running motors in opposite directions
+    m.motor(4, FORWARD, 255);
+
+  } else if (Left && !Right) { // Left detects black, Right detects white, turn left
+    Serial.println("Action: Turning Left");
+    m.motor(1, FORWARD, 255);   // Turn left by running motors in opposite directions
+    m.motor(4, BACKWARD, 255);
+
+  } else if (!Left && !Right) { // Both sensors detect white, stop
+    Serial.println("Action: Stopping");
+    m.motor(1, BRAKE, 0);       // Stop both motors
+    m.motor(4, BRAKE, 0);
+  }
+
+  // Add a small delay to improve readability in Serial Monitor
+  delay(500);
+}