Just fix the errors #define POT A0 #define TRIG 23 #define ECHO 24 #define USer

Just fix the errors
#define POT A0
#define TRIG 23
#define ECHO 24
#define UServo 22
#define LM_EN 2
#define LM_IN1 3
#define LM_IN2 4
#define RM_IN1 5
#define RM_IN2 6
#define RM_EN 7
#define IR_R2 30
#define IR_R1 31
#define IR_M 32
#define IR_L1 33
#define IR_L2 34
#define SW1 52
#define SW2 53
#include
Servo US_servo;
#include
#include
LiquidCrystal_I2C lcd (0x27,16,2);
byte OUTPINS[] = {LM_EN, LM_IN1, LM_IN2, RM_EN, RM_IN1, RM_IN2, TRIG};
byte INPINS[] = {IR_L2, IR_L1,IR_M, IR_R1, IR_R2,ECHO, SW1,SW2};
void setup()
{
for (int i = 0; i < sizeof(OUTPINS); i++) pinMode(OUTPINS[i], OUTPUT); for (int i = 0; i < sizeof(INPINS); i++) pinMode(INPINS[i], INPUT); US_servo.attach(UServo); US_servo.write(90); delay(100); lcd.init(); lcd.backlight(); Serial.begin(9600); Serial1.begin(9600); lcd.setCursor(0,0); lcd.print(" SPEEDY 004"); lcd.setCursor(0,1); lcd.print(" SPEEDY XXX"); delay(2000); } int dist, ldist, rdist; byte spd;char BT_cmd; boolean sL2,sL1,sM,sR1,sR2,swlVal, sw2Val; void loop() { sw1val = digitalRead(SW1); sw2Val = digitalRead(SW2); if (!sw1Val && !sw2Val) // 00 BT Control { lcd.setCursor(0, 1); lcd.print(" BT Control "); BT_control(); } else if (!sw1Val && sw2Val) // 01 Direction Finder { lcd.setCursor(0, 1); lcd.print(" Direction Finder "); line_follower(); } else if (sw1Val && !sw2Val) // 10 Line Finder { lcd.setCursor(0, 1); lcd.print(" Line Finder "); BT_control(); } else if (sw1Val && !sw2Val) { lcd.setCursor(0, 1); lcd.print(" Line Follower "); line_follower(); } else if (sw1Val && !sw2Val) { lcd.setCursor(0, 1); lcd.print(" Direction Finder "); line_finder(); } else // 11 { lcd.setCursor(0, 1); lcd.print(" Line Follower "); line_follower(); } else if (sw1Val && !sw2Val) { lcd.setCursor(0, 1); lcd.print(" Direction Finder "); direction_finder(); } lcd.setCursor(0, 1); lcd.print(" Line Follower "); line_follower(); } void line_follower() { sL2 = digitalRead(IR_L2); sL1 = digitalRead(IR_L1); sM = digitalRead(IR_M); sR1 = digitalRead(IR_R1); sR2 = digitalRead(IR_R2); // Move Back if (!sL2 && !sL1 && !sM && !sR1 && !sR2) // 00000 { serial.println ("moving ahead") Car_control(LOW, 255, LOW, 255); // moving back slowly } else if ((sL2 || sL1 && !sM && !sR1 && sR2) // 00001 { serial.println ("moving right") Car_control(LOW, 255, LOW, 100); // moving back slowly } else if (!sL2 && !sL1 && !sM && sR1 || !sR2) // 00010 { serial.println ("moving left") Car_control(LOW, 100, LOW, 255); // moving back slowly } if (sL2 && sL1 && sM && sR1 && sR2) // 00011 { serial.println ("u turn") Car_control(LOW, 255, HIGH, 255); // moving back slowly } } void BT_control() { if(Serial1.available)) { BT_cmd = Serial.read(); } if (BT_cmd == 'F' || BT_cmd == 'f') { Car_control(LOW, 255, LOW, 255); Serial.println("forward"); } else if (BT_cmd == 'B' || BT_cmd == 'b') { Car_control(HIGH, 155, HIGH, 155); Serial.println("revers"); } else if (BT_cmd == 'R' || BT_cmd == 'r') { Car_control(LOW, 255, LOW, 55); Serial.println("right"); } else if (BT_cmd == 'L' || BT_cmd == 'l') { Car_control(LOW, 55, LOW, 255); Serial.println("left"); } else if (BT_cmd == 'S' || BT_cmd == 's') { Car_control(LOW, 0, LOW, 0); Serial.println("stopped"); } else if (BT_cmd == 'U' || BT_cmd == 'u') { Car_control(LOW, 255, HIGH, 255); Serial.println("U turn"); } } void line_follower() { aL2 = digitalRead(IR_L2); aL1 = digitalRead(IR_L1); sM = digitalRead(IR_M); sR1 = digitalRead(IR_R1); sR2 = digitalRead(IR_R2); Serial.print(sL2); Serial.print(""); Serial.print(sL1); Serial.print(""); Serial.print(sM); Serial.print(""); Serial.print(sR1); Serial.print(""); Serial.print(sR2); if (!sL2 && !sL1 && !sM && !sR1 &&sR2) { Serial.println("back slowly"); car_control(HIGH,100,HIGH,100); } else if (!sL2 && !sL1 && !sM && !sR1 &&sR2) { Serial.println("turn right"); car_control(LOW,255,LOW,50); } else if (!sL2 && !sL1 && !sM && !sR1 &&sR2) { Serial.println("straight"); car_control(LOW,255,LOW,255); } else if (!sL2 && !sL1 && !sM && !sR1 &&sR2) { Serial.println("90 right"); car_control(LOW,255,HIGH,255); delay(1000); } else if (!sL2 && !sL1 && !sM && !sR1 &&sR2) { Serial.println("90 left"); car_control(HIGH,255,LOW,255); delay(1000); } else if (!sL2 && !sL1 && !sM && !sR1 &&sR2) { Serial.println("u turn"); car_control(LOW,255,HIGH,255); delay(2000); } else if (!sL2 && !sL1 && !sM && !sR1 &&sR2) { Serial.println("turn left"); car_control(LOW,55,LOW,255); } } void direction_finder() { US_servo.write(90); delay(200); dist = get_distance(); if (dist >= 100)
{
Car_control(LOW, 255, LOW, 255);
Serial.println(“forward”);
}
else if (dist > 20 && dist <100) { spd = map (dist,21,99,60,220); Car_control(LOW, 255, LOW, 255); Serial.println("forward"); } else if (dist <=20) { Car_control(LOW, 0, LOW, 0); US_servo.write(10); delay(200); rdist = get_distance(); US_servo.write(170); delay(500); ldist = get_distance(); US_servo.write(90); delay(200); if (ldist > rdist + 15)
{Serial.println(“lift”);
Car_control(HIGH, 255, LOW, 255);
delay(1000);
}
else if (rdist > ldist + 15)
{Serial.println(“right”);
Car_control(LOW, 255, HIGH, 255);
delay(1000);
}
else if (abs(ldist – rdist) < 10) {Serial.println("u turn"); Car_control(HIGH, 255, LOW, 255); delay(2000); } } } int get_distance() {long int duration; int cm; digitalWrite(TRIG,LOW); delayMicroseconds(2); digitalWrite(TRIG,HIGH); delayMicroseconds(5); digitalWrite(TRIG,LOW); duration = pulseIn(ECHO, HIGH); cm = duration/58; if (cm>150) cm =150;
if (cm<=5) cm = 5; return cm; } void Car_control(boolean Ldir, byte Lspd, boolean Rdir, byte Rspd) { digitalWrite(LM_IN1, Ldir); digitalWrite(LM_IN2, !Ldir); digitalWrite(RM_IN1, Rdir); digitalWrite(RM_IN2, !Rdir); analogWrite(LM_EN, Lspd); analogWrite(RM_EN, Rspd); }

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