Sumobotsclass - Revision history

Jdc928 at 23:57, 25 October 2011

2011-10-25T23:57:41Z

← Older revision		Revision as of 19:57, 25 October 2011
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	[[File:Mechapad.png]]		[[File:Mechapad.png]]

			--- files ---

	[http://dl.dropbox.com/u/253442/motordriver.zip eagle design files]		[http://dl.dropbox.com/u/253442/motordriver.zip eagle design files]

	[http://dl.dropbox.com/u/253442/sumo_v3.svg Sumobot chasis file ]		[http://dl.dropbox.com/u/253442/sumo_v3.svg Sumobot chasis file ]

	[http://dl.dropbox.com/u/253442/PololuQTRSensorsForArduino.zip QTR line sensors library]		[http://dl.dropbox.com/u/253442/PololuQTRSensorsForArduino.zip QTR line sensors library]

Jdc928 at 23:57, 25 October 2011

2011-10-25T23:57:12Z

← Older revision		Revision as of 19:57, 25 October 2011
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	~~[http://dl.dropbox.com/u/253442/PololuQTRSensorsForArduino.zip QTR line sensors]~~


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	[http://dl.dropbox.com/u/253442/motordriver.zip eagle design files]		[http://dl.dropbox.com/u/253442/motordriver.zip eagle design files]
			[http://dl.dropbox.com/u/253442/sumo_v3.svg Sumobot chasis file ]
			[http://dl.dropbox.com/u/253442/PololuQTRSensorsForArduino.zip QTR line sensors library]

Imrcly at 16:05, 23 October 2011

2011-10-23T16:05:45Z

← Older revision		Revision as of 12:05, 23 October 2011
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	[Sumobotclasscode ~~code snippets~~]		[[Sumobotclasscode]]

	----		----

Imrcly: /* Motor control code */

2011-10-23T16:05:00Z

Motor control code

Show changes

Imrcly: /* Motor control code */

2011-10-23T16:02:09Z

Motor control code

← Older revision		Revision as of 12:02, 23 October 2011
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	void loop() { // put your main code here, to run repeatedly:		void loop() { // put your main code here, to run repeatedly:
			//motortests
	//set speed max		//set speed max
	analogWrite(motor2speed,255);		analogWrite(motor2speed,255);
Line 59:		Line 59:
	delay(3000);		delay(3000);

			//sensor tests
	qtr.read(sensors); //reads the line sensors		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= ");
	Serial.print(analogRead(irSensorPin));		Serial.print(analogRead(irSensorPin));
	Serial.print(" r= ");		Serial.print(" r= ");
	Serial.print(sensors[0]); //right		Serial.print(sensors[0]); //right
	Serial.print(" l= ");		Serial.print(" l= ");
	Serial.println(sensors[1]); //left		Serial.println(sensors[1]); //left

	//do the ~~robot dance~~		//do the roboboogie
	<nowiki>if (sensors[0] < linethreshold && sensors[1] < linethreshold) </nowiki>		<nowiki>if (sensors[0] < linethreshold && sensors[1] < linethreshold) </nowiki>
	{		{
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	delay(milliSecs/2);		delay(milliSecs/2);
	}		}
	}// end blink		}// 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

Imrcly at 15:58, 23 October 2011

2011-10-23T15:58:51Z

← Older revision		Revision as of 11:58, 23 October 2011
Line 107:		Line 107:

	This function blinks an LED		This function blinks an LED
	void blink(int whatPin, int howManyTimes, int milliSecs) {		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>
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	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){		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/
	float volts, distance;		float volts, distance;
	<nowiki>for (int i=0; i< 5; i++){ </nowiki>		<nowiki>for (int i=0; i< 5; i++){ </nowiki>
	volts = analogRead(pin)*0.0048828125;// (5/1024)		volts = analogRead(pin)*0.0048828125;// (5/1024)
	distance += 65* pow(volts, -1.10); //65 = theretical distance / (1/Volts)S		distance += 65* pow(volts, -1.10); //65 = theretical distance / (1/Volts)S
	}		}
	return (distance);		return (distance);
	}//end irdistance		}//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		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		int hperiod; //calculate 1/2 period in us
	long cycles, i;		long cycles, i;
	hperiod = (500000 / freq) - 7; // subtract 7 us to make up for digitalWrite overhead		hperiod = (500000 / freq) - 7; // subtract 7 us to make up for digitalWrite overhead
	cycles = ((long)freq * (long)t) / 1000; // calculate cycles		cycles = ((long)freq * (long)t) / 1000; // calculate cycles
	<nowiki>for (i=0; i<= cycles; i++){ </nowiki>// play note for t ms		<nowiki>for (i=0; i<= cycles; i++){ </nowiki>// play note for t ms
	digitalWrite(freqoutpin, HIGH);		digitalWrite(freqoutpin, HIGH);
	delayMicroseconds(hperiod);		delayMicroseconds(hperiod);
	digitalWrite(freqoutpin, LOW);		digitalWrite(freqoutpin, LOW);
	delayMicroseconds(hperiod);		delayMicroseconds(hperiod);
	}//end loop		}//end loop
	}// end freqout		}// end freqout

	----		----

Imrcly at 15:57, 23 October 2011

2011-10-23T15:57:32Z

← Older revision		Revision as of 11:57, 23 October 2011
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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>
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	<nowiki>const int linethreshold = 300; </nowiki>		<nowiki>const int linethreshold = 300; </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);
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	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		Serial.begin(9600); // set up Serial library at 9600 bps for debugging
	blink(ledPin, 3, 100);		delay (3000); //wait for everything and for the match to start
	// blink the LED 3 times. This should happen only once.		blink(ledPin, 3, 100);
	// if you see the LED blink three times, it means that		// blink the LED 3 times. This should happen only once.
	// the module reset itself,. probably because the motor		// if you see the LED blink three times, it means that
	// caused a brownout or a short.		// the module reset itself,. probably because the motor
	} //end setup		// 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:
	~~qtr.read(sensors); //reads the line sensors~~
	//set speed max		//set speed max
	analogWrite(motor2speed,255);		analogWrite(motor2speed,255);
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	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= ");
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	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) {		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>
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	delay(milliSecs/2);		delay(milliSecs/2);
	}		}
	}// end blink		}// 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){		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/
	float volts, distance;		float volts, distance;
	<nowiki>for (int i=0; i< 5; i++){ </nowiki>		<nowiki>for (int i=0; i< 5; i++){ </nowiki>
	volts = analogRead(pin)*0.0048828125;// (5/1024)		volts = analogRead(pin)*0.0048828125;// (5/1024)
	distance += 65* pow(volts, -1.10); //65 = theretical distance / (1/Volts)S		distance += 65* pow(volts, -1.10); //65 = theretical distance / (1/Volts)S
	}		}
	return (distance);		return (distance);
	}//end irdistance		}//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		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		int hperiod; //calculate 1/2 period in us
	long cycles, i;		long cycles, i;
	hperiod = (500000 / freq) - 7; // subtract 7 us to make up for digitalWrite overhead		hperiod = (500000 / freq) - 7; // subtract 7 us to make up for digitalWrite overhead
	cycles = ((long)freq * (long)t) / 1000; // calculate cycles		cycles = ((long)freq * (long)t) / 1000; // calculate cycles
	<nowiki>for (i=0; i<= cycles; i++){ </nowiki>// play note for t ms		<nowiki>for (i=0; i<= cycles; i++){ </nowiki>// play note for t ms
	digitalWrite(freqoutpin, HIGH);		digitalWrite(freqoutpin, HIGH);
	delayMicroseconds(hperiod);		delayMicroseconds(hperiod);
	digitalWrite(freqoutpin, LOW);		digitalWrite(freqoutpin, LOW);
	delayMicroseconds(hperiod);		delayMicroseconds(hperiod);
	}//end loop		}//end loop
	}// end freqout		}// end freqout

	----		----

Imrcly at 15:53, 23 October 2011

2011-10-23T15:53:08Z

← Older revision		Revision as of 11:53, 23 October 2011
Line 9:		Line 9:
	<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>
	<nowiki>unsigned int sensors[2];</nowiki>		<nowiki>unsigned int sensors[2];</nowiki>
			<nowiki>const int linethreshold = 300; </nowiki>

	void setup() { // put your setup code here, to run once:		void setup() { // put your setup code here, to run once:
Line 31:		Line 32:

	void loop() { // put your main code here, to run repeatedly:		void loop() { // put your main code here, to run repeatedly:
	qtr.read(sensors);		qtr.read(sensors); //reads the line sensors
	analogWrite(motor2speed,255); ~~//go all out~~		//set speed max
	analogWrite(motor1speed,255);		analogWrite(motor2speed,255);
	digitalWrite(motor1dir, HIGH); ~~//go forward~~		analogWrite(motor1speed,255);
	digitalWrite(motor2dir, HIGH);		//go forward
	delay(3000);		digitalWrite(motor1dir, HIGH);
	digitalWrite(motor1dir, LOW); ~~//go backwards~~		digitalWrite(motor2dir, HIGH);
	digitalWrite(motor2dir, LOW);		delay(3000);
	delay(3000);		//go backwards
	digitalWrite(motor1dir, HIGH); ~~//go right~~		digitalWrite(motor1dir, LOW);
	digitalWrite(motor2dir, LOW);		digitalWrite(motor2dir, LOW);
	delay(3000);		delay(3000);
	digitalWrite(motor1dir, LOW); ~~//go right~~		//go right
	digitalWrite(motor2dir, HIGH);		digitalWrite(motor1dir, HIGH);
	delay(3000);		digitalWrite(motor2dir, LOW);
	analogWrite(motor1speed,0); ~~//stop~~		delay(3000);
	analogWrite(motor2speed,0);		//go left
	delay(3000);		digitalWrite(motor1dir, LOW);
			digitalWrite(motor2dir, HIGH);
			delay(3000);
			//stop
			analogWrite(motor1speed,0);
			analogWrite(motor2speed,0);
			delay(3000);

	//Don't forget to enable the serial port in setup		//DEBUG Don't forget to enable the serial port in setup
	Serial.print(analogRead(irSensorPin));		Serial.print("d= ");
	Serial.print(" r= ");		Serial.print(analogRead(irSensorPin));
	~~<nowiki>~~Serial.print(sensors[0]);//right~~</nowiki>~~		Serial.print(" r= ");
	Serial.print(" l= ");		Serial.print(sensors[0]); //right
	~~<nowiki>~~Serial.println(sensors[1]);//left ~~</nowiki>~~		Serial.print(" l= ");
			Serial.println(sensors[1]); //left

	//do the robot dance		//do the robot dance

Imrcly at 15:38, 23 October 2011

2011-10-23T15:38:53Z

@@ Line 56: / Line 56: @@
   Serial.print(" l= ");
   <nowiki>Serial.println(sensors[1]);//left </nowiki>
+}

Imrcly at 15:31, 23 October 2011

2011-10-23T15:31:13Z

← Older revision		Revision as of 11:31, 23 October 2011
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	}		}

	These are functions that make life easy, someone else did the math no we don't have to.		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) {~~//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>
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	}// 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

	----		----