Sunday, December 13, 2015

Code

Line Follower

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#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 

Adafruit_DCMotor *LeftMotor = AFMS.getMotor(1);
Adafruit_DCMotor *RightMotor = AFMS.getMotor(2); //initialize both motors
void setup() 
{
  Serial.begin(9600);

  AFMS.begin();  
  LeftMotor->setSpeed(100);
  LeftMotor->run(RELEASE);
  RightMotor->setSpeed(100);
  RightMotor->run(RELEASE); //set speeds for motors
}

void loop() 
{ 
  int leftSensor = analogRead(A0);
  int centerSensor = analogRead(A1);
  int rightSensor = analogRead(A2); //set values for line sensors

  if (centerSensor > 400)  //if the center sensor is not on black, do this
  {
    LeftMotor->run(RELEASE);
    RightMotor->run(RELEASE);
    LeftMotor->run(FORWARD);
    RightMotor->run(FORWARD);
  }
  else if (leftSensor > 400) //otherwise, check if the left sensor is on black
  {
    LeftMotor->run(RELEASE);
    RightMotor->run(RELEASE);
    RightMotor->run(FORWARD);
  }
  else if (rightSensor > 400) //otherwise, check if the right sensor is on black
  {
    LeftMotor->run(RELEASE);
    RightMotor->run(RELEASE);
    LeftMotor->run(FORWARD);
  }
  else if (leftSensor < 400 && centerSensor < 400 && rightSensor < 400)
  {
    LeftMotor->run(RELEASE);
    RightMotor->run(RELEASE);
    delay(100);
    LeftMotor->run(BACKWARD);
    RightMotor->run(BACKWARD);
  }

  delay(0);
}

Maze 

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#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 

Adafruit_DCMotor *LeftMotor = AFMS.getMotor(1);
Adafruit_DCMotor *RightMotor = AFMS.getMotor(2); //initialize motors

void setup()
{
  AFMS.begin();  
  LeftMotor->setSpeed(100);
  LeftMotor->run(FORWARD);
  RightMotor->setSpeed(100);
  RightMotor->run(FORWARD); //set motor speeds
}

void loop()
{
  int leftSensor = analogRead(A0);
  int centerSensor = analogRead(A1);
  int rightSensor = analogRead(A2); //set values for line sensors
  
  if (leftSensor > 400)
  {
    LeftMotor->run(RELEASE);
    RightMotor->run(RELEASE);
    delay(100);
    RightMotor->run(FORWARD);
  }
  else if (leftSensor < 400)
  {
    if (centerSensor > 400)
    {
      LeftMotor->run(RELEASE);
      RightMotor->run(RELEASE);
      delay(100);
      LeftMotor->run(BACKWARD);
      RightMotor->run(BACKWARD);
    }
    else if (centerSensor < 400)
    {
      while (rightSensor < 400)
      {
        LeftMotor->run(RELEASE);
        RightMotor->run(RELEASE);
        delay(100);
        LeftMotor->run(BACKWARD);
        RightMotor->run(BACKWARD);
      }
      LeftMotor->run(RELEASE);
      RightMotor->run(RELEASE);
      delay(100);
      LeftMotor->run(FORWARD);
    }
    
  }
  
}



Bump and Light
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#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 

Adafruit_DCMotor *LeftMotor = AFMS.getMotor(1);
Adafruit_DCMotor *RightMotor = AFMS.getMotor(2);

int iniLight;
int bumper1 = 6;
int bumper2 = 10;
void setup() 
{
  AFMS.begin();  
  LeftMotor->setSpeed(100);
  LeftMotor->run(RELEASE);

  RightMotor->setSpeed(100);
  RightMotor->run(RELEASE);

 pinMode(bumper1, INPUT_PULLUP);
 delay(0);
 pinMode(bumper2, INPUT_PULLUP);
 delay(0);

 Serial.begin(9600);
 
 iniLight = analogRead(A4); //find the initial light level (calibration)
 Serial.print("Initial light level: ");
 delay(0);
 Serial.println(iniLight);
 delay(0);
}

bool bump()   //funcrtion to find out if the mobile platform is in contact with the wall
{
  bool contact;       //true/false variable... in contact with wall, true - yes, false - no.
  int switch1 = digitalRead(6);  //read the pin 6 to see if the bumper is depressed or not
  int switch2 = digitalRead(10); //read the pin 10 to see if the bumper is depressed or not


  if (switch1 == 0 || switch2 == 0)
  {
    contact = true;   //if either bumper is pressed in, set contact equal to true
  }
  else
  {
    contact = false;  //if neither bumper is pressed in, set contact equal to false
  }

  return contact;
}

void loop() 
{
   
    LeftMotor->run(FORWARD);
    RightMotor->run(FORWARD);     

  bool x = bump();
  if (x == true)
  {
    LeftMotor->run(RELEASE);
    RightMotor->run(RELEASE);
    delay(100);
    LeftMotor->run(BACKWARD);
    RightMotor->run(BACKWARD);//set the speed of the wheels for reverse.
    delay(2000);

    LeftMotor->run(RELEASE);
    RightMotor->run(RELEASE);
    delay(100);
    LeftMotor->run(FORWARD);
    delay(1000);                      
    RightMotor->run(FORWARD);
    
  }

  
}
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