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| == Motor control code ==
| | [[Sumobotclasscode]] |
| These are the imports, variable decelerations and pin assignments.
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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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| <nowiki>const int linethreshold = 300; </nowiki>
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| void setup() { // put your setup code here, to run once:
| | ---- |
| //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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| //motortests
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| //set speed max
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| analogWrite(motor2speed,255);
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| analogWrite(motor1speed,255);
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| //go forward
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| digitalWrite(motor1dir, HIGH);
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| digitalWrite(motor2dir, HIGH);
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| delay(3000);
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| //go backwards
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| digitalWrite(motor1dir, LOW);
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| digitalWrite(motor2dir, LOW);
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| delay(3000);
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| //go right
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| digitalWrite(motor1dir, HIGH);
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| digitalWrite(motor2dir, LOW);
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| delay(3000);
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| //go left
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| digitalWrite(motor1dir, LOW);
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| digitalWrite(motor2dir, HIGH);
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| delay(3000);
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| //stop
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| analogWrite(motor1speed,0);
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| analogWrite(motor2speed,0);
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| delay(3000);
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| //sensor tests
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| qtr.read(sensors); //reads the line sensors
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| //DEBUG Don't forget to enable the serial port in setup
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| Serial.print("d= ");
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| Serial.print(analogRead(irSensorPin));
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| Serial.print(" r= ");
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| Serial.print(sensors[0]); //right
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| Serial.print(" l= ");
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| Serial.println(sensors[1]); //left
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| //do the roboboogie
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| <nowiki>if (sensors[0] < linethreshold && sensors[1] < linethreshold) </nowiki>
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| {
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| // Serial.println("the edge backup and spin");
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| //backup
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| delay(500); //do this for half of a second
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| //rotate left
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| delay(500); //do this for half of a second
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| } //end found edge front
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| <nowiki>else if (sensors[1] < linethreshold) </nowiki>
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| {
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| // Serial.println("right sensor, turn left");
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| //rotate left
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| delay(1000); //do this for half of a second
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| } //end found edge right
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| <nowiki>else if (sensors[0] < linethreshold) </nowiki>
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| {
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| // Serial.println("left sensor, turn right");
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| //rotate right
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| delay(500); //do this for half of a second
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| } //end found edge Left
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| //WITHIN BORDERS
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| <nowiki>else if (irdistance(irSensorPin) < 450/*max distance */ )</nowiki>
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| { //charge
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| // Serial.println("CHARGE");
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| //go forward
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| delay(100); //a longer delay for the charge
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| }//end charge
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| else
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| { //search
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| Serial.println("scanning, where are you?");
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| //rotate right
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| delay(100);
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| }//end search
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| }//end the main loop
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| These are functions that make life easy, someone else did the math now we don't have to.
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| This function blinks an LED
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| void blink(int whatPin, int howManyTimes, int milliSecs) {
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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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| This is the function that allows us to use the sharp ir sensor for detecting distance
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| float irdistance(int pin){
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| //http://luckylarry.co.uk/arduino-projects/arduino-using-a-sharp-ir-sensor-for-distance-calculation/
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| float volts, distance;
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| <nowiki>for (int i=0; i< 5; i++){ </nowiki>
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| volts = analogRead(pin)*0.0048828125;// (5/1024)
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| distance += 65* pow(volts, -1.10); //65 = theretical distance / (1/Volts)S
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| }
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| return (distance);
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| }//end irdistance
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| This function makes a buzzer make noise or make an ir led pulse at a certain frequency
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| void freqout(int freq, int t, int freqoutpin){ // freq in hz, t in ms, pin to use
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| int hperiod; //calculate 1/2 period in us
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| long cycles, i;
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| hperiod = (500000 / freq) - 7; // subtract 7 us to make up for digitalWrite overhead
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| cycles = ((long)freq * (long)t) / 1000; // calculate cycles
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| <nowiki>for (i=0; i<= cycles; i++){ </nowiki>// play note for t ms
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| digitalWrite(freqoutpin, HIGH);
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| delayMicroseconds(hperiod);
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| digitalWrite(freqoutpin, LOW);
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| delayMicroseconds(hperiod);
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| }//end loop
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| }// end freqout
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| ----
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| [http://dl.dropbox.com/u/253442/PololuQTRSensorsForArduino.zip QTR line sensors]
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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] |
