Difference between revisions of "Sumobotsclass"
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| Line 58: | Line 58: | ||
} | } | ||
| + | |||
| + | These are functions that make life easy, someone else did the math no we don't have to. | ||
void blink(int whatPin, int howManyTimes, int milliSecs) {//blinks an LED | void blink(int whatPin, int howManyTimes, int milliSecs) {//blinks an LED | ||
| Line 69: | Line 71: | ||
}// end blink | }// end blink | ||
| + | float irdistance(int pin){ | ||
| + | //http://luckylarry.co.uk/arduino-projects/arduino-using-a-sharp-ir-sensor-for-distance-calculation/ | ||
| + | float volts, distance; | ||
| + | <nowiki>for (int i=0; i< 5; i++){ </nowiki> | ||
| + | volts = analogRead(pin)*0.0048828125;// (5/1024) | ||
| + | distance += 65* pow(volts, -1.10); //65 = theretical distance / (1/Volts)S | ||
| + | } | ||
| + | return (distance); | ||
| + | }//end irdistance | ||
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---- | ---- | ||
| − | |||
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| Resistor||10k Ohm ||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT10K0CT-ND||5 | | Resistor||10k Ohm ||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT10K0CT-ND||5 | ||
|- | |- | ||
| − | | Resistor||1k ohm||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT1K00CT-ND|| | + | | Resistor||1k ohm||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT1K00CT-ND||3 |
| − | |||
| − | |||
|- | |- | ||
| Voltage regulator||7805||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=LM7805CT-ND||1 | | Voltage regulator||7805||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=LM7805CT-ND||1 | ||
Revision as of 11:26, 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);
//Serial.begin(9600); // set up Serial library at 9600 bps for debugging
delay (3000); //wait for everything and for the match to start
blink(ledPin, 3, 100);
// 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.
} //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);
//Don't forget to enable the serial port in setup
Serial.print(analogRead(irSensorPin));
Serial.print(" r= ");
Serial.print(sensors[0]);//right
Serial.print(" l= ");
Serial.println(sensors[1]);//left
}
These are functions that make life easy, someone else did the math no we don't have to.
void blink(int whatPin, int howManyTimes, int milliSecs) {//blinks an LED
int i = 0;
for ( i = 0; i < howManyTimes; i++) {
digitalWrite(whatPin, HIGH);
delay(milliSecs/2);
digitalWrite(whatPin, LOW);
delay(milliSecs/2);
}
}// end blink
float irdistance(int pin){
//http://luckylarry.co.uk/arduino-projects/arduino-using-a-sharp-ir-sensor-for-distance-calculation/
float volts, distance;
for (int i=0; i< 5; i++){
volts = analogRead(pin)*0.0048828125;// (5/1024)
distance += 65* pow(volts, -1.10); //65 = theretical distance / (1/Volts)S
}
return (distance);
}//end irdistance
Need a Mechapad or some Protoboard and Patience
