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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 |
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17 | // blue wire |
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18 | int right_motor_forward_pin = 3; |
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19 | // orange wire |
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20 | int right_motor_backward_pin = 4; |
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21 | // white wire |
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22 | int right_motor_speed_pin = 5; |
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23 | |
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24 | // yellow wire |
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25 | int right_echo_pin = 6; |
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26 | // blue wire |
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27 | int right_trigger_pin = 7; |
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28 | |
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29 | |
30 | // blue wire |
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31 | int left_motor_forward_pin = 8; |
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32 | // orange wire |
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33 | int left_motor_backward_pin = 9; |
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34 | // white wire |
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35 | int left_motor_speed_pin = 10; |
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36 | |
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37 | // yellow wire |
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38 | int left_echo_pin = 11; |
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39 | // blue wire |
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40 | int left_trigger_pin = 12; |
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41 | |
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42 | void on(int pin){ |
43 | digitalWrite(pin, HIGH);} |
44 | |
45 | void off(int pin){ |
46 | digitalWrite(pin, LOW);} |
47 | |
48 | void set_motor(int speed_pin, |
49 | int forward_pin, |
50 | int backward_pin, |
51 | int speed){ |
52 | if(speed > 0){ |
53 | off(backward_pin); |
54 | on(forward_pin);} |
55 | else if(speed < 0){ |
56 | off(forward_pin); |
57 | on(backward_pin); |
58 | speed = -speed;} |
59 | else{ // speed is 0 |
60 | off(forward_pin); |
61 | off(backward_pin);} |
62 | // since speed has been set positive, no need to check if speed < -255. |
63 | if(speed > 255){ |
64 | speed = 255;} |
65 | analogWrite(speed_pin, speed);} |
66 | |
67 | void go(int left_motor_speed, int right_motor_speed){ |
68 | set_motor(left_motor_speed_pin, |
69 | left_motor_forward_pin, |
70 | left_motor_backward_pin, |
71 | left_motor_speed); |
72 | set_motor(right_motor_speed_pin, |
73 | right_motor_forward_pin, |
74 | right_motor_backward_pin, |
75 | right_motor_speed);} |
76 | |
77 | int ping(int trigger, int echo){ |
78 | int ping_time = 0; |
79 | // turn off trigger |
80 | off(trigger); |
81 | delayMicroseconds(2); |
82 | // turn on the trigger and leave it on long enough for the |
83 | // sonar sensor to notice |
84 | on(trigger); |
85 | delayMicroseconds(10); |
86 | off(trigger); |
87 | ping_time = pulseIn(echo, HIGH); |
88 | if(ping_time <= 0){ |
89 | ping_time = 3000;} |
90 | // sonar needs some time to recover before pinging again, |
91 | // so make sure it gets enough sleep right here. 50 milliseconds |
92 | delay(50); |
93 | return ping_time;} |
94 | |
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95 | void setup(){ |
96 | Serial.begin(9600); |
97 | |
98 | pinMode(right_motor_speed_pin, OUTPUT); |
99 | pinMode(right_motor_forward_pin, OUTPUT); |
100 | pinMode(right_motor_backward_pin, OUTPUT); |
101 | |
102 | pinMode(right_echo_pin, INPUT); |
103 | pinMode(right_trigger_pin, OUTPUT); |
104 | |
105 | pinMode(left_motor_speed_pin, OUTPUT); |
106 | pinMode(left_motor_forward_pin, OUTPUT); |
107 | pinMode(left_motor_backward_pin, OUTPUT); |
108 | |
109 | pinMode(left_echo_pin, INPUT); |
110 | pinMode(left_trigger_pin, OUTPUT); |
111 | |
112 | off(left_motor_speed_pin); |
113 | off(left_motor_forward_pin); |
114 | off(left_motor_backward_pin); |
115 | off(left_trigger_pin); |
116 | |
117 | off(right_motor_speed_pin); |
118 | off(right_motor_forward_pin); |
119 | off(right_motor_backward_pin); |
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120 | off(right_trigger_pin); } |
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121 | |
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122 | void loop() { |
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123 | int left_speed; |
124 | int right_speed; |
125 | |
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126 | // you'll need to adjust these based on your sonar sensor's behavior |
127 | int desired_right_ping_time = 800; |
128 | int desired_left_ping_time = 800; |
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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 = "); |
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143 | Serial.print(right_speed); |
144 | Serial.println(); |
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145 | |
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146 | go(left_speed, right_speed); } |