Barney Fife

x Solarbotics GM8 Motor with wheels

http://www.solarbotics.com/products/gmpw_deal/

1x SN754410 Quad Half H-Bridge

http://www.sparkfun.com/commerce/product_info.php?products_id=315

2x QRE1113 Line Sensor Breakout - Analog

http://www.sparkfun.com/commerce/product_info.php?products_id=9453

1x Infrared Proximity Sensor Short Range - Sharp GP2D120XJ00F

http://www.sparkfun.com/commerce/product_info.php?products_id=8959

1x cheap arduino clone (Diavolino)

http://evilmadscience.com/tinykitlist/180

1x small sheet of 1/8" lexan

1x 9v battery holder

1x 4xAA battery holder

20x Header pins (3,5,2)

hot glue

Solder

assorted bits of wire

Sources

http://groups.google.com/group/tuftsroboticsclub/web/anatomy-of-a-sumobot

http://groups.google.com/group/tuftsroboticsclub/web/how-to-program-your-sumobot

My code as it ran at the competition

#include <PololuQTRSensors.h> //we're using the pololuQTR sensor library so we must attach it.


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 motor1APin = 10; // H-bridge leg 1 (pin 2) bundle black wire

const int motor2APin = 9; // H-bridge leg 2 (pin 7) bundle white wire

const int motor4APin = 11; // H-bridge leg 3 (pin 10) bundle red wire

const int motor3APin = 12; // H-bridge leg 4 (pin 15) bundle green wire

const int enmotorPin = 8; // H-bridge enable pin speed control (1 and 9) green wire

const int buzzerPin = 2; //buzzer pin

const int ledPin = 13; // LED (onboard)

const int irSensorPin = 3; // IR sensor on this pin distance sensor


const int linethreshold = 300;


/* This is notes on what my motors will do

PORTB = B00010011;//Forward


PORTB = B00001101; //backwards


PORTB = B00001011;//rotate left


PORTB = B00010101;//rotate right


PORTB = B00000001; //all stop

*/


void setup() {


//Serial.begin(9600); // set up Serial library at 9600 bps for debugging

// set all outputs:

// motors

pinMode(motor1APin, OUTPUT);

pinMode(motor2APin, OUTPUT);

pinMode(motor3APin, OUTPUT);

pinMode(motor4APin, OUTPUT);

pinMode(enmotorPin, OUTPUT);

// AV outputs

pinMode(ledPin, OUTPUT);

pinMode(buzzerPin, OUTPUT);

pinMode(irSensorPin, INPUT);

delay (3000);


/* 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() {

qtr.read(sensors);


//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

// */


if (sensors[0] < linethreshold && sensors[1] < linethreshold)

{

// Serial.println("the edge backup and spin");

PORTB = B00001101; //backup

delay(500); //do this for half of a second

PORTB = B00001011;//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");

PORTB = B00001011;//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");

PORTB = B00010101;//rotate right

delay(500); //do this for half of a second

} //end found edge Left

//WITHIN BORDERS

else if (irdistance(irSensorPin) < 450/*max distance */ )

{

// Serial.println("CHARGE");

PORTB = B00010011;

freqout(900,20,buzzerPin); //Battlecry to indicate it sees an opponent

delay(100); //a longer delay for the charge

}//end charge

else

{

Serial.println("scanning, where are you?");

PORTB = B00010101;//rotate right

delay(100);

}//end search

}//end Loop


//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 for the piezo buzzer

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 loopbu

}// end freqout


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;

distance += 65* pow(volts, -1.10);

}

distance = distance/10;

// float volts = analogRead(pin)*0.0048828125; // (5/1024)

// float distance = 65* pow(volts, -1.10); // worked out from graph 65 = theretical distance / (1/Volts)S - luckylarry.co.uk

return (distance);

}//end irdistance