Sumobotclasscode

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:

//motortests
//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);

//sensor tests
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 roboboogie
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