Difference between revisions of "Sumobotsclass"
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== Motor control code == | == Motor control code == | ||
| − | + | These are the imports, variable decelerations and pin assignments. | |
<nowiki>#include <PololuQTRSensors.h> //we're using the pololuQTR sensor library so we must attach it.</nowiki> | <nowiki>#include <PololuQTRSensors.h> //we're using the pololuQTR sensor library so we must attach it.</nowiki> | ||
<nowiki>#define motor1dir 8 //direction motor 2</nowiki> | <nowiki>#define motor1dir 8 //direction motor 2</nowiki> | ||
| Line 11: | Line 11: | ||
<nowiki>const int linethreshold = 300; </nowiki> | <nowiki>const int linethreshold = 300; </nowiki> | ||
| − | + | void setup() { // put your setup code here, to run once: | |
//motor control outputs | //motor control outputs | ||
pinMode(motor1dir, OUTPUT); | pinMode(motor1dir, OUTPUT); | ||
| Line 17: | Line 17: | ||
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); | ||
| − | + | ||
| − | + | 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: | void loop() { // put your main code here, to run repeatedly: | ||
| − | + | ||
//set speed max | //set speed max | ||
analogWrite(motor2speed,255); | analogWrite(motor2speed,255); | ||
| Line 57: | Line 59: | ||
delay(3000); | delay(3000); | ||
| + | qtr.read(sensors); //reads the line sensors | ||
//DEBUG Don't forget to enable the serial port in setup | //DEBUG Don't forget to enable the serial port in setup | ||
Serial.print("d= "); | Serial.print("d= "); | ||
| Line 99: | Line 102: | ||
delay(100); | delay(100); | ||
}//end search | }//end search | ||
| − | + | }//end the main loop | |
| − | } | ||
These are functions that make life easy, someone else did the math now we don't have to. | These are functions that make life easy, someone else did the math now we don't have to. | ||
This function blinks an LED | 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 113: | Line 115: | ||
delay(milliSecs/2); | delay(milliSecs/2); | ||
} | } | ||
| − | + | }// end blink | |
This is the function that allows us to use the sharp ir sensor for detecting distance | 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; | |
| − | + | <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 | |
This function makes a buzzer make noise or make an ir led pulse at a certain frequency | 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 11:57, 23 October 2011
Motor control code
These are the imports, variable decelerations and pin assignments.
#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];
const int linethreshold = 300;
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:
//set speed max analogWrite(motor2speed,255); analogWrite(motor1speed,255); //go forward digitalWrite(motor1dir, HIGH); digitalWrite(motor2dir, HIGH); delay(3000); //go backwards digitalWrite(motor1dir, LOW); digitalWrite(motor2dir, LOW); delay(3000); //go right digitalWrite(motor1dir, HIGH); digitalWrite(motor2dir, LOW); delay(3000); //go left digitalWrite(motor1dir, LOW); digitalWrite(motor2dir, HIGH); delay(3000); //stop analogWrite(motor1speed,0); analogWrite(motor2speed,0); delay(3000);
qtr.read(sensors); //reads the line sensors
//DEBUG Don't forget to enable the serial port in setup
Serial.print("d= ");
Serial.print(analogRead(irSensorPin));
Serial.print(" r= ");
Serial.print(sensors[0]); //right
Serial.print(" l= ");
Serial.println(sensors[1]); //left
//do the robot dance
if (sensors[0] < linethreshold && sensors[1] < linethreshold)
{
// Serial.println("the edge backup and spin");
//backup
delay(500); //do this for half of a second
//rotate left
delay(500); //do this for half of a second
} //end found edge front
else if (sensors[1] < linethreshold)
{
// Serial.println("right sensor, turn left");
//rotate left
delay(1000); //do this for half of a second
} //end found edge right
else if (sensors[0] < linethreshold)
{
// Serial.println("left sensor, turn right");
//rotate right
delay(500); //do this for half of a second
} //end found edge Left
//WITHIN BORDERS
else if (irdistance(irSensorPin) < 450/*max distance */ )
{ //charge
// Serial.println("CHARGE");
//go forward
delay(100); //a longer delay for the charge
}//end charge
else
{ //search
Serial.println("scanning, where are you?");
//rotate right
delay(100);
}//end search
}//end the main loop
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
