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