marwa_rabie

which part made you confused ?

i used three sensors front,left and right and the front one is the base sensor in each condition with one of the two others

i write the function of newPing myself i called it sonarSensor you can see it in the code and do the same job of the predefined library PID_v1.h i used it for getting feedback to the dc motor to control the forward function as it's oscillate in the maze so it make it stable in the forward move with adjusting the pid parameters kp.ki and kd

the robot