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| == Motor control code ==
| | [[Sumobotclasscode]] |
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| <nowiki>#include <PololuQTRSensors.h> //we're using the pololuQTR sensor library so we must attach it.</nowiki>
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| <nowiki>#define motor1dir 8 //direction motor 2</nowiki>
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| <nowiki>#define motor1speed 9 //pwm control motor 1</nowiki>
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| <nowiki>#define motor2dir 11 //direction motor 2</nowiki>
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| <nowiki>#define motor2speed 10 //pwm control motor 2</nowiki>
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| <nowiki>#define ledpin 13 //led pin </nowiki>
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| <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>
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| <nowiki>unsigned int sensors[2];</nowiki>
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| void setup() { // put your setup code here, to run once:
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| //motor control outputs
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| pinMode(motor1dir, OUTPUT);
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| pinMode(motor1speed, OUTPUT);
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| pinMode(motor2dir, OUTPUT);
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| pinMode(motor2speed, OUTPUT);
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| // AV outputs
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| pinMode(ledPin, OUTPUT);
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| pinMode(buzzerPin, OUTPUT);
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| pinMode(irSensorPin, INPUT);
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| //Serial.begin(9600); // set up Serial library at 9600 bps for debugging
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| delay (3000); //wait for everything and for the match to start
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| blink(ledPin, 3, 100);
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| // blink the LED 3 times. This should happen only once.
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| // if you see the LED blink three times, it means that
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| // the module reset itself,. probably because the motor
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| // caused a brownout or a short.
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| } //end setup
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| void loop() { // put your main code here, to run repeatedly:
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| qtr.read(sensors);
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| analogWrite(motor2speed,255); //go all out
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| analogWrite(motor1speed,255);
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| digitalWrite(motor1dir, HIGH); //go forward
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| digitalWrite(motor2dir, HIGH);
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| delay(3000);
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| digitalWrite(motor1dir, LOW); //go backwards
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| digitalWrite(motor2dir, LOW);
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| delay(3000);
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| digitalWrite(motor1dir, HIGH); //go right
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| digitalWrite(motor2dir, LOW);
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| delay(3000);
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| digitalWrite(motor1dir, LOW); //go right
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| digitalWrite(motor2dir, HIGH);
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| delay(3000);
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| analogWrite(motor1speed,0); //stop
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| analogWrite(motor2speed,0);
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| delay(3000);
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| //Don't forget to enable the serial port in setup
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| Serial.print(analogRead(irSensorPin));
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| Serial.print(" r= ");
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| <nowiki>Serial.print(sensors[0]);//right</nowiki>
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| Serial.print(" l= ");
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| <nowiki>Serial.println(sensors[1]);//left </nowiki>
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| }
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| void blink(int whatPin, int howManyTimes, int milliSecs) {//blinks an LED
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| int i = 0;
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| <nowiki>for ( i = 0; i < howManyTimes; i++) {</nowiki>
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| digitalWrite(whatPin, HIGH);
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| delay(milliSecs/2);
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| digitalWrite(whatPin, LOW);
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| delay(milliSecs/2);
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| }
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| }// end blink
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| | ---- |
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| ----
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| [http://dl.dropbox.com/u/253442/PololuQTRSensorsForArduino.zip QTR line sensors]
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| ---- | | ---- |
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| | Resistor||10k Ohm ||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT10K0CT-ND||5 | | | Resistor||10k Ohm ||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT10K0CT-ND||5 |
| |- | | |- |
| | Resistor||1k ohm||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT1K00CT-ND||2 | | | Resistor||1k ohm||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT1K00CT-ND||3 |
| |-
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| | Resistor||220ohm||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=CF14JT220RCT-ND||2
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| |- | | |- |
| | Voltage regulator||7805||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=LM7805CT-ND||1 | | | Voltage regulator||7805||http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=LM7805CT-ND||1 |
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| [[File:Mechapad.png]] | | [[File:Mechapad.png]] |
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| | --- files --- |
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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] |
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| | [http://dl.dropbox.com/u/253442/sumo_v3.svg Sumobot chasis file ] |
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| | [http://dl.dropbox.com/u/253442/PololuQTRSensorsForArduino.zip QTR line sensors library] |
