Difference between revisions of "Sumobotsclass"
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== Motor control code == | == Motor control code == | ||
| − | + | <nowiki>#include <PololuQTRSensors.h> </nowiki>//we're using the pololuQTR sensor library so we must attach it. | |
<nowiki>PololuQTRSensorsRC qtr((unsigned char[]) {19,18}, 2, 2000, 255); //declares two line sensors on pins 18 and 19 this corresponds to analog pins 4 and 5</nowiki> | <nowiki>PololuQTRSensorsRC qtr((unsigned char[]) {19,18}, 2, 2000, 255); //declares two line sensors on pins 18 and 19 this corresponds to analog pins 4 and 5</nowiki> | ||
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<nowiki>#define motor1dir 8 //direction motor 2</nowiki> | <nowiki>#define motor1dir 8 //direction motor 2</nowiki> | ||
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<nowiki>#define motor1speed 9 //pwm control motor 1</nowiki> | <nowiki>#define motor1speed 9 //pwm control motor 1</nowiki> | ||
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<nowiki>#define motor2dir 11 //direction motor 2</nowiki> | <nowiki>#define motor2dir 11 //direction motor 2</nowiki> | ||
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<nowiki>#define motor2speed 10 //pwm control motor 2</nowiki> | <nowiki>#define motor2speed 10 //pwm control motor 2</nowiki> | ||
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<nowiki>#define ledpin 13 //led pin </nowiki> | <nowiki>#define ledpin 13 //led pin </nowiki> | ||
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} //end setup | } //end setup | ||
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} | } | ||
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delay(3000); | delay(3000); | ||
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| + | digitalWrite(motor1dir, HIGH); //go right | ||
| + | |||
| + | digitalWrite(motor2dir, LOW); | ||
| + | |||
| + | delay(3000); | ||
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| + | |||
| + | digitalWrite(motor1dir, LOW); //go right | ||
| + | |||
| + | digitalWrite(motor2dir, HIGH); | ||
| + | |||
| + | delay(3000); | ||
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analogWrite(motor1speed,0); //stop | analogWrite(motor1speed,0); //stop | ||
Revision as of 11:04, 23 October 2011
Motor control code
#include <PololuQTRSensors.h> //we're using the pololuQTR sensor library so we must attach it.
PololuQTRSensorsRC qtr((unsigned char[]) {19,18}, 2, 2000, 255); //declares two line sensors on pins 18 and 19 this corresponds to analog pins 4 and 5
unsigned int sensors[2];
#define motor1dir 8 //direction motor 2
#define motor1speed 9 //pwm control motor 1
#define motor2dir 11 //direction motor 2
#define motor2speed 10 //pwm control motor 2
#define ledpin 13 //led pin
void setup() { // put your setup code here, to run once:
//motor control outputs
pinMode(motor1dir, OUTPUT);
pinMode(motor1speed, OUTPUT);
pinMode(motor2dir, OUTPUT);
pinMode(motor2speed, OUTPUT);
// AV outputs
pinMode(ledPin, OUTPUT);
pinMode(buzzerPin, OUTPUT);
pinMode(irSensorPin, INPUT);
delay (3000);
/* blink the LED 3 times. This should happen only once.
if you see the LED blink three times, it means that
the module reset itself,. probably because the motor
caused a brownout or a short. */
blink(ledPin, 3, 100);
} //end setup
}
void loop() { // put your main code here, to run repeatedly:
qtr.read(sensors);
analogWrite(motor2speed,255); //go all out
analogWrite(motor1speed,255);
digitalWrite(motor1dir, HIGH); //go forward
digitalWrite(motor2dir, HIGH);
delay(3000);
digitalWrite(motor1dir, LOW); //go backwards
digitalWrite(motor2dir, LOW);
delay(3000);
digitalWrite(motor1dir, HIGH); //go right
digitalWrite(motor2dir, LOW);
delay(3000);
digitalWrite(motor1dir, LOW); //go right
digitalWrite(motor2dir, HIGH);
delay(3000);
analogWrite(motor1speed,0); //stop
analogWrite(motor2speed,0);
delay(3000);
}
//blinks an LED
void blink(int whatPin, int howManyTimes, int milliSecs) {
int i = 0;
for ( i = 0; i < howManyTimes; i++) {
digitalWrite(whatPin, HIGH);
delay(milliSecs/2);
digitalWrite(whatPin, LOW);
delay(milliSecs/2);
}
}// end blink
Need a Mechapad or some Protoboard and Patience
