Coding ArduLite Line Follower Robot FULL ArduLite.ino

#include <ArduLite.h>
#include <ArduLiteTime.h>

// Sensors
Digital leftSensor(2, IN);
Digital rightSensor(3, IN);

// DC Motors
PWM leftMotor1(5);
PWM leftMotor2(6);
PWM rightMotor1(9);
PWM rightMotor2(10);

// LED Indicator
Digital led(13, OUT);

// Waktu belok berdasarkan jenis tikungan
const int normalTurnTime = 10;

// Kecepatan motor
const int speedNormal = 200;
const int speedSharp = 255;

void moveForward(int speedValue) {
  leftMotor1.write(speedValue);
  leftMotor2.write(0);
  rightMotor1.write(speedValue);
  rightMotor2.write(0);
}

void stopMotor() {
  leftMotor1.write(0);
  leftMotor2.write(0);
  rightMotor1.write(0);
  rightMotor2.write(0);
}

void turnLeft(int speedValue) {
  leftMotor1.write(0);  // Pastikan motor kiri berhenti
  leftMotor2.write(speedValue);
  rightMotor1.write(speedValue);
  rightMotor2.write(0);
}

void turnRight(int speedValue) {
  leftMotor1.write(speedValue);
  leftMotor2.write(0);
  rightMotor1.write(0);  // Pastikan motor kanan berhenti
  rightMotor2.write(speedValue);
}

void blinkLED(int times, int duration) {
  for (int i = 0; i < times; i++) {
    led.write(HIGH);
    wait(duration);
    led.write(LOW);
    wait(duration);
  }
}

int main() {
  led.write(LOW);

  while (1) {
    int leftSensorValue = leftSensor.read();
    int rightSensorValue = rightSensor.read();

    if (!leftSensorValue && !rightSensorValue) {
      moveForward(speedSharp);
    } else if (leftSensorValue && rightSensorValue) {
      stopMotor();
    } else {
      unsigned long startTime = getTimeMs();

      if (!leftSensorValue && rightSensorValue) {
        while (!leftSensor.read() && rightSensor.read()) {
          if (getTimeMs() - startTime > normalTurnTime) {
            blinkLED(3, 100);  // Kedip LED jika tikungan tajam
            turnRight(speedSharp);
          } else {
            turnRight(speedNormal);
          }
        }
      }

      if (leftSensorValue && !rightSensorValue) {
        while (leftSensor.read() && !rightSensor.read()) {
          if (getTimeMs() - startTime > normalTurnTime) {
            blinkLED(3, 100);
            turnLeft(speedSharp);
          } else {
            turnLeft(speedNormal);
          }
        }
      }
    }

  }

}