e0854435 |
1 | /* |
2 | This program is free software: you can redistribute it and/or modify |
3 | it under the terms of the GNU Affero General Public License as |
4 | published by the Free Software Foundation, either version 3 of the |
5 | License, or (at your option) any later version. |
6 | |
7 | This program is distributed in the hope that it will be useful, |
8 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
9 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
10 | GNU Affero General Public License for more details. |
11 | |
12 | You should have received a copy of the GNU Affero General Public License |
13 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
14 | */ |
15 | |
16 | // define which pins are connected to which components |
17 | int right_motor_speed_pin = 3; // orange wire |
18 | int right_motor_forward_pin = 4; // brown |
19 | int right_motor_backward_pin = 5; // purple |
20 | |
21 | int right_echo_pin = 6; // white |
22 | int right_trigger_pin = 7; // blue |
23 | |
24 | int left_motor_speed_pin = 8; // orange |
25 | int left_motor_forward_pin = 9; // brown |
26 | int left_motor_backward_pin = 10; // purple |
27 | |
28 | int left_echo_pin = 11; // white |
29 | int left_trigger_pin = 12; // blue |
30 | |
31 | // you'll need to adjust these based on your sonar sensor's behavior |
32 | int desired_right_ping_time = 800; |
33 | int desired_left_ping_time = 800; |
34 | |
35 | void on(int pin){ |
36 | digitalWrite(pin, HIGH);} |
37 | |
38 | void off(int pin){ |
39 | digitalWrite(pin, LOW);} |
40 | |
41 | void set_motor(int speed_pin, |
42 | int forward_pin, |
43 | int backward_pin, |
44 | int speed){ |
45 | if(speed > 0){ |
46 | off(backward_pin); |
47 | on(forward_pin);} |
48 | else if(speed < 0){ |
49 | off(forward_pin); |
50 | on(backward_pin); |
51 | speed = -speed;} |
52 | else{ // speed is 0 |
53 | off(forward_pin); |
54 | off(backward_pin);} |
55 | // since speed has been set positive, no need to check if speed < -255. |
56 | if(speed > 255){ |
57 | speed = 255;} |
58 | analogWrite(speed_pin, speed);} |
59 | |
60 | void go(int left_motor_speed, int right_motor_speed){ |
61 | set_motor(left_motor_speed_pin, |
62 | left_motor_forward_pin, |
63 | left_motor_backward_pin, |
64 | left_motor_speed); |
65 | set_motor(right_motor_speed_pin, |
66 | right_motor_forward_pin, |
67 | right_motor_backward_pin, |
68 | right_motor_speed);} |
69 | |
70 | int ping(int trigger, int echo){ |
71 | int ping_time = 0; |
72 | // turn off trigger |
73 | off(trigger); |
74 | delayMicroseconds(2); |
75 | // turn on the trigger and leave it on long enough for the |
76 | // sonar sensor to notice |
77 | on(trigger); |
78 | delayMicroseconds(10); |
79 | off(trigger); |
80 | ping_time = pulseIn(echo, HIGH); |
81 | if(ping_time <= 0){ |
82 | ping_time = 3000;} |
83 | // sonar needs some time to recover before pinging again, |
84 | // so make sure it gets enough sleep right here. 50 milliseconds |
85 | delay(50); |
86 | return ping_time;} |
87 | |
88 | void backup(int backup_time){ |
89 | go(-250, -250); |
90 | delay(backup_time);} |
91 | |
92 | void turn_around(int turn_around_time){ |
93 | go(-250, 250); |
94 | delay(turn_around_time);} |
95 | |
96 | void setup(){ |
97 | Serial.begin(9600); |
98 | |
99 | pinMode(right_motor_speed_pin, OUTPUT); |
100 | pinMode(right_motor_forward_pin, OUTPUT); |
101 | pinMode(right_motor_backward_pin, OUTPUT); |
102 | |
103 | pinMode(right_echo_pin, INPUT); |
104 | pinMode(right_trigger_pin, OUTPUT); |
105 | |
106 | pinMode(left_motor_speed_pin, OUTPUT); |
107 | pinMode(left_motor_forward_pin, OUTPUT); |
108 | pinMode(left_motor_backward_pin, OUTPUT); |
109 | |
110 | pinMode(left_echo_pin, INPUT); |
111 | pinMode(left_trigger_pin, OUTPUT); |
112 | |
113 | off(left_motor_speed_pin); |
114 | off(left_motor_forward_pin); |
115 | off(left_motor_backward_pin); |
116 | off(left_trigger_pin); |
117 | |
118 | off(right_motor_speed_pin); |
119 | off(right_motor_forward_pin); |
120 | off(right_motor_backward_pin); |
121 | off(right_trigger_pin);} |
122 | |
123 | void loop(){ |
124 | int left_speed; |
125 | int right_speed; |
126 | |
127 | int forward_speed = 250; |
128 | int stop_speed = 0; |
129 | |
130 | unsigned int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin); |
131 | unsigned int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin); |
132 | |
133 | left_speed = actual_left_ping_time - desired_left_ping_time; |
134 | right_speed = actual_right_ping_time - desired_right_ping_time; |
135 | |
136 | Serial.print("left: ping = "); |
137 | Serial.print(actual_left_ping_time); |
138 | Serial.print(" speed = "); |
139 | Serial.print(left_speed); |
140 | Serial.print(" right: ping = "); |
141 | Serial.print(actual_right_ping_time); |
142 | Serial.print(" speed = "); |
143 | Serial.println(right_speed); |
144 | |
145 | go(left_speed, right_speed);} |