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
