Code

ZUMI CODE:
from zumi.zumi import Zumi

import time

zumi = Zumi()

BASE_SPEED = 30

CORRECTION = 5  # tweak to fix drift

DELAY = 0.1  # seconds to move forward per loop

# Helper: move forward with correction

def move_forward():

    left_speed = BASE_SPEED - CORRECTION

    right_speed = BASE_SPEED

    zumi.control_motors(left_speed, right_speed)

try:

    while True:

        front_left = zumi.front_left_detect()

        front_right = zumi.front_right_detect()

        if front_left or front_right:

            print("Obstacle detected. Trying to escape...")

            # Try turning right

            zumi.stop()

            zumi.turn_right(90)

            time.sleep(0.5)

            front_left = zumi.front_left_detect()

            front_right = zumi.front_right_detect()

            if not (front_left or front_right):

                continue  # right worked

            # Try turning left 180

            zumi.turn_left(180)

            time.sleep(0.5)

            front_left = zumi.front_left_detect()

            front_right = zumi.front_right_detect()

            if not (front_left or front_right):

                continue  # opposite way worked

            # Try turning right 270 (now facing 90° from original direction)

            zumi.turn_right(270)

            time.sleep(0.5)

            # If this doesn't work either, it'll just try again in next loop

        else:

            move_forward()

            time.sleep(DELAY)

except KeyboardInterrupt:

    zumi.stop()

    print("Program stopped manually.")

LINE SENSING ROBOT CODE:

#include <RedBot.h>

// RedBot core

RedBotMotors motors;

// IR line sensors

RedBotSensor leftIR(A3);

RedBotSensor centerIR(A6);

RedBotSensor rightIR(A7);

// Bumpers

RedBotBumper leftBumper(3);

RedBotBumper rightBumper(11);

// Buzzer

const int buzzerPin = 9;

// Line detection threshold (adjust as needed)

#define LINETHRESHOLD 800

void setup() {

 Serial.begin(9600);

 pinMode(buzzerPin, OUTPUT);

 Serial.println("RedBot starting...");

}

void loop() {

 // Check for bumper press (collision)

 if (!leftBumper.read() || !rightBumper.read()) {

   motors.stop();

   tone(buzzerPin, 1000, 500);  // Buzzer: 1kHz tone for 0.5 sec

   Serial.println("Bumper triggered. Stopping.");

   while (true); // Stop forever

 }

 // Read line sensor values

 int leftVal = leftIR.read();

 int centerVal = centerIR.read();

 int rightVal = rightIR.read();

 // Debug output

 Serial.print("L: "); Serial.print(leftVal);

 Serial.print(" C: "); Serial.print(centerVal);

 Serial.print(" R: "); Serial.println(rightVal);

 // Line following logic

 if (centerVal > LINETHRESHOLD && leftVal < LINETHRESHOLD && rightVal < LINETHRESHOLD) {

   // Line under center — go straight

   motors.leftDrive(50);

   motors.rightDrive(50);

 }

 else if (leftVal > LINETHRESHOLD) {

   // Line under left sensor — turn left

   motors.leftDrive(10);

   motors.rightDrive(170);

 }

 else if (rightVal > LINETHRESHOLD) {

   // Line under right sensor — turn right

   motors.leftDrive(170);

   motors.rightDrive(10);

 }

 else {

   // No line detected — keep moving forward

   motors.leftDrive(120);

   motors.rightDrive(120);

 }

 delay(20);

}