Difference between revisions of "Sumobotsclass"
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Line 59: | Line 59: | ||
} | } | ||
− | These are functions that make life easy, someone else did the math | + | These are functions that make life easy, someone else did the math now we don't have to. |
− | void blink(int whatPin, int howManyTimes, int milliSecs) { | + | This function blinks an LED |
+ | void blink(int whatPin, int howManyTimes, int milliSecs) { | ||
int i = 0; | int i = 0; | ||
<nowiki>for ( i = 0; i < howManyTimes; i++) {</nowiki> | <nowiki>for ( i = 0; i < howManyTimes; i++) {</nowiki> | ||
Line 71: | Line 72: | ||
}// end blink | }// end blink | ||
+ | This is the function that allows us to use the sharp ir sensor for detecting distance | ||
float irdistance(int pin){ | float irdistance(int pin){ | ||
//http://luckylarry.co.uk/arduino-projects/arduino-using-a-sharp-ir-sensor-for-distance-calculation/ | //http://luckylarry.co.uk/arduino-projects/arduino-using-a-sharp-ir-sensor-for-distance-calculation/ | ||
Line 81: | Line 83: | ||
}//end irdistance | }//end irdistance | ||
+ | This function makes a buzzer make noise or make an ir led pulse at a certain frequency | ||
+ | void freqout(int freq, int t, int freqoutpin){ // freq in hz, t in ms, pin to use | ||
+ | int hperiod; //calculate 1/2 period in us | ||
+ | long cycles, i; | ||
+ | hperiod = (500000 / freq) - 7; // subtract 7 us to make up for digitalWrite overhead | ||
+ | cycles = ((long)freq * (long)t) / 1000; // calculate cycles | ||
+ | <nowiki>for (i=0; i<= cycles; i++){ </nowiki>// play note for t ms | ||
+ | digitalWrite(freqoutpin, HIGH); | ||
+ | delayMicroseconds(hperiod); | ||
+ | digitalWrite(freqoutpin, LOW); | ||
+ | delayMicroseconds(hperiod); | ||
+ | }//end loop | ||
+ | }// end freqout | ||
---- | ---- |
Revision as of 11:31, 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 now we don't have to.
This function 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
This is the function that allows us to use the sharp ir sensor for detecting distance
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
This function makes a buzzer make noise or make an ir led pulse at a certain frequency
void freqout(int freq, int t, int freqoutpin){ // freq in hz, t in ms, pin to use int hperiod; //calculate 1/2 period in us long cycles, i; hperiod = (500000 / freq) - 7; // subtract 7 us to make up for digitalWrite overhead cycles = ((long)freq * (long)t) / 1000; // calculate cycles for (i=0; i<= cycles; i++){ // play note for t ms digitalWrite(freqoutpin, HIGH); delayMicroseconds(hperiod); digitalWrite(freqoutpin, LOW); delayMicroseconds(hperiod); }//end loop }// end freqout
Need a Mechapad or some Protoboard and Patience