P.H.I.L.
PHOTOVORE ROBOT

int ledPin = 13; // LED connected to digital pin 13
int left_photocell = 0; //Analog input value
int right_photocell = 1; //Analog input value
int left_val = 0; //Initial value of LEFT photocell
int right_val = 0; //Initial value of RIGHT photocell

int left_motor_1a = 6; // Left Motor 1A
int left_motor_2a = 7; // Left Motor 2A
int left_motor_speed = 9;

int right_motor_3a = 11; // Right Motor 3A
int right_motor_4a = 12; // Right Motor 4A
int right_motor_speed = 10;
int threshold = 750;


void setup()
{
pinMode(ledPin, OUTPUT); // sets the digital pin as output
pinMode(left_motor_1a, OUTPUT);
pinMode(left_motor_2a, OUTPUT);
pinMode(left_motor_speed, OUTPUT);
pinMode(right_motor_3a, OUTPUT);
pinMode(right_motor_4a, OUTPUT);
pinMode(right_motor_speed, OUTPUT);
Serial.begin(9600);
}

void loop(){
left_val = analogRead (left_photocell);
right_val = analogRead (right_photocell);
//Use this part of code ON when you need to calibrate what's a shadow
/*Serial.print("LEFT_");
Serial.println(left_val);
Serial.println(" ");
Serial.print("RIGHT_");
Serial.println(right_val); */


//Serial.println(left_val);

//delay(900);

if (left_val> threshold || right_val> threshold) {

run_away();

}
else{
walk();
}




}

void walk(){
// left motor:
digitalWrite(left_motor_1a, LOW); // this is forward
digitalWrite(left_motor_2a, HIGH); // this is forward
analogWrite(left_motor_speed, 170); // 0-255
// right motor:
digitalWrite(right_motor_3a, LOW); // this is forward
digitalWrite(right_motor_4a, HIGH); // this is forward
analogWrite(right_motor_speed, 170); // 0-255

}






void run_away(){ // Temporalmente only go backwards
//First just stop everything
digitalWrite(left_motor_1a, LOW); // this is backwards
digitalWrite(left_motor_2a, LOW); // this is backwards
analogWrite(left_motor_speed, 0); // 0-255
// right motor:
digitalWrite(right_motor_3a, LOW); // this is backwards
digitalWrite(right_motor_4a, LOW); // this is backwards
analogWrite(right_motor_speed, 0); // 0-255
delay(900);
//Now turn back
// left motor:

digitalWrite(left_motor_1a, HIGH); // this is backwards
digitalWrite(left_motor_2a, LOW); // this is backwards
analogWrite(left_motor_speed, 200); // 0-255
// right motor:
digitalWrite(right_motor_3a, HIGH); // this is backwards
digitalWrite(right_motor_4a, LOW); // this is backwards
analogWrite(right_motor_speed, 200); // 0-255
delay(900);
//Turn 180 degrees
// left motor:
digitalWrite(left_motor_1a, LOW); // this is forward
digitalWrite(left_motor_2a, HIGH); // this is forward
analogWrite(left_motor_speed, 255); // 0-255
digitalWrite(right_motor_3a, HIGH); // this is backwards
digitalWrite(right_motor_4a, LOW); // this is backwards
analogWrite(right_motor_speed, 255); // 0-255
delay(700);



}