[KARMEL ALZABEN]

السلام عليكم ورحمة الله وبركاته
انا بحاجة لفهم هذا الكود لان فلسفته شبيهة جدا لمشروعي التخرج ولكن لايوجد لدي وقت لاخذ الدورة وفهم الموضوع بالعمق المطلوب فمشروع تخرج 1 يتحدث عن المشروع بشكل نظري
وكانت فكرتي بعمل روبوت نادل يسير على خط اسود واتحكم به واوجهه لعقد بارقام معينة
#define motorL1 8
#define motorL2 9
#define motorR1 10
#define motorR2 11

#define PwmLeft 5
#define PwmRight 6

#define SensorR 2
#define SensorL 3
#define Sensor3 A0
#define Sensor4 A1

#define TableA A4
#define TableB A2
#define TableC A5
#define TableD A3

int OriginalSpeed = 200;
int TableCount = 0;
int TableCheck = 0;
int RFCheck = 10;

void setup()
{
  Serial.begin (9600);
 
  pinMode(motorR1, OUTPUT);
  pinMode(motorR2, OUTPUT);
  pinMode(motorL1, OUTPUT);
  pinMode(motorL2, OUTPUT);
 
  pinMode(PwmLeft, OUTPUT);
  pinMode(PwmRight, OUTPUT);
 
  pinMode(SensorL, INPUT);
  pinMode(SensorR, INPUT);
  pinMode(Sensor3, INPUT);
  pinMode(Sensor4, INPUT);
 
  pinMode(TableA, INPUT);
  pinMode(TableB, INPUT);
  pinMode(TableC, INPUT);
  pinMode(TableD, INPUT);
 
  MotorsStop();
 
  analogWrite(PwmLeft, 0);
  analogWrite(PwmRight, 0);
  delay(2000);
 // Serial.println("fghfg");
 
}

void loop() {
  MotorsForward();
if((digitalRead(Sensor3) == LOW) && (TableCheck == 0)){TableCount++; TableCheck = 1;}
if((digitalRead(Sensor3) == HIGH) && (TableCheck == 1)){TableCheck = 2;}

if((digitalRead(Sensor3) == LOW) && (TableCheck == 2)){TableCount++; TableCheck = 3;}
if((digitalRead(Sensor3) == HIGH) && (TableCheck == 3)){TableCheck = 4;}
if((digitalRead(Sensor3) == LOW) && (TableCheck == 4)){TableCount++; TableCheck = 5;}
if((digitalRead(Sensor3) == HIGH) && (TableCheck == 5)){TableCheck = 0;}

if(digitalRead(TableA) == HIGH){RFCheck = 1;}
if(digitalRead(TableB) == HIGH){RFCheck = 2;}
if(digitalRead(TableC) == HIGH){RFCheck = 3;}
if(digitalRead(TableD) == HIGH){RFCheck = 4;}

if(RFCheck == TableCount){Table1();}
PIDController();
}

void MotorsBackward()
{
    digitalWrite(motorL1, HIGH);
    digitalWrite(motorL2, LOW);
    digitalWrite(motorR1, HIGH);
    digitalWrite(motorR2, LOW);
}

void MotorsForward()
{
    digitalWrite(motorL1, LOW);
    digitalWrite(motorL2, HIGH);
    digitalWrite(motorR1, LOW);
    digitalWrite(motorR2, HIGH);
}

void MotorsStop()
{
    digitalWrite(motorL1, HIGH);
    digitalWrite(motorL2, HIGH);
    digitalWrite(motorR1, HIGH);
    digitalWrite(motorR2, HIGH);
}

void MotorsLeft()
{
    analogWrite(PwmLeft, 0);
  analogWrite(PwmRight, 0);
    digitalWrite(motorR1, HIGH);
    digitalWrite(motorR2, HIGH);
    digitalWrite(motorL1, LOW);
    digitalWrite(motorL2, HIGH);
}

void MotorsRight()
{
      analogWrite(PwmLeft, 0);
  analogWrite(PwmRight, 0);
    digitalWrite(motorR1, LOW);
    digitalWrite(motorR2, HIGH);
    digitalWrite(motorL1, HIGH);
    digitalWrite(motorL2, HIGH);
}

void Motors180()
{
    analogWrite(PwmLeft, 0);
    analogWrite(PwmRight, 0);
    digitalWrite(motorL1, HIGH);
    digitalWrite(motorL2, LOW);
    digitalWrite(motorR1, LOW);
    digitalWrite(motorR2, HIGH);
}

void PIDController()
{
  if(digitalRead(SensorL) == HIGH){analogWrite(PwmRight, 250);analogWrite(PwmLeft, 0);}
  if(digitalRead(SensorR) == HIGH){analogWrite(PwmLeft, 250);analogWrite(PwmRight,0);}
  if((digitalRead(SensorL) == LOW) && (digitalRead(SensorR) == LOW)){analogWrite(PwmRight, 0);analogWrite(PwmLeft, 0);}
}

void Table1()
{
   TableCount = 0;
   MotorsRight();
   delay(4000);
   while(digitalRead(SensorR) == HIGH);
   while(digitalRead(SensorL) == HIGH);
   while(1)
   {
       MotorsForward();
       PIDController();
       if(digitalRead(Sensor3) == LOW){break;}
   }
   MotorsStop();
   delay(1000);
   Motors180();
   delay(2000);
   while(digitalRead(Sensor3) == HIGH);
   while(digitalRead(Sensor3) == LOW);
   while(digitalRead(SensorL) == HIGH);
   //delay(500);
   while(1)
   {
   MotorsForward();
   PIDController();
   if(digitalRead(Sensor3) == LOW){break;}
   }
   //delay(1000);
   MotorsLeft();
   delay(4000);
   while(digitalRead(SensorL) == HIGH);
   while(digitalRead(SensorR) == LOW);
   while(1)
   {
       MotorsForward();
       PIDController();
       if(digitalRead(Sensor3) == LOW){break;}
   }
   MotorsStop();
   delay(1000);
}
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