Difference between revisions of "Sumobotsclass"
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<nowiki>#define motor2speed 10 //pwm control motor 2</nowiki> | <nowiki>#define motor2speed 10 //pwm control motor 2</nowiki> | ||
<nowiki>#define ledpin 13 //led pin </nowiki> | <nowiki>#define ledpin 13 //led pin </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> | |
| − | + | <nowiki>unsigned int sensors[2];</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> | ||
| − | |||
| − | <nowiki>unsigned int sensors[2];</nowiki> | ||
void setup() { // put your setup code here, to run once: | void setup() { // put your setup code here, to run once: | ||
| − | |||
//motor control outputs | //motor control outputs | ||
| − | |||
pinMode(motor1dir, OUTPUT); | pinMode(motor1dir, OUTPUT); | ||
| − | |||
pinMode(motor1speed, OUTPUT); | pinMode(motor1speed, OUTPUT); | ||
| − | |||
pinMode(motor2dir, OUTPUT); | pinMode(motor2dir, OUTPUT); | ||
| − | |||
pinMode(motor2speed, OUTPUT); | pinMode(motor2speed, OUTPUT); | ||
| − | |||
// AV outputs | // AV outputs | ||
| − | |||
pinMode(ledPin, OUTPUT); | pinMode(ledPin, OUTPUT); | ||
| − | |||
pinMode(buzzerPin, OUTPUT); | pinMode(buzzerPin, OUTPUT); | ||
| − | |||
pinMode(irSensorPin, INPUT); | pinMode(irSensorPin, INPUT); | ||
| − | |||
delay (3000); //wait for everything and for the match to start | delay (3000); //wait for everything and for the match to start | ||
| − | + | // 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. | |
| − | if you see the LED blink three times, it means that | + | blink(ledPin, 3, 100); |
| − | |||
| − | the module reset itself,. probably because the motor | ||
| − | |||
| − | caused a brownout or a short. | ||
| − | |||
| − | blink(ledPin, 3, 100); | ||
Revision as of 11:10, 23 October 2011
Motor control code
#include <PololuQTRSensors.h> //we're using the pololuQTR sensor library so we must attach it.
#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
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];
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); //wait for everything and for the match to start
// 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
