| 1 | // license info at bottom of file |
| 2 | // tl;dr AGPLv3+ |
| 3 | |
| 4 | #include "bot_map.h" |
| 5 | |
| 6 | void on(int pin){ |
| 7 | digitalWrite(pin, HIGH);} |
| 8 | |
| 9 | void off(int pin){ |
| 10 | digitalWrite(pin, LOW);} |
| 11 | |
| 12 | void set_motor(int speed_pin, |
| 13 | int forward_pin, |
| 14 | int backward_pin, |
| 15 | int speed){ |
| 16 | if(speed > 0){ |
| 17 | off(backward_pin); |
| 18 | on(forward_pin);} |
| 19 | else if(speed < 0){ |
| 20 | off(forward_pin); |
| 21 | on(backward_pin); |
| 22 | speed = -speed;} |
| 23 | else{ // speed is 0 |
| 24 | off(forward_pin); |
| 25 | off(backward_pin);} |
| 26 | // since speed has been set positive, no need to check if speed < -255. |
| 27 | if(speed > 255){ |
| 28 | speed = 255;} |
| 29 | analogWrite(speed_pin, speed);} |
| 30 | |
| 31 | void go(int left_motor_speed, int right_motor_speed){ |
| 32 | set_motor(left_motor_speed_pin, |
| 33 | left_motor_forward_pin, |
| 34 | left_motor_backward_pin, |
| 35 | left_motor_speed); |
| 36 | set_motor(right_motor_speed_pin, |
| 37 | right_motor_forward_pin, |
| 38 | right_motor_backward_pin, |
| 39 | right_motor_speed);} |
| 40 | |
| 41 | int ping(int trigger, int echo){ |
| 42 | int ping_time = 0; |
| 43 | // turn off trigger |
| 44 | off(trigger); |
| 45 | delayMicroseconds(2); |
| 46 | // turn on the trigger and leave it on long enough for the |
| 47 | // sonar sensor to notice |
| 48 | on(trigger); |
| 49 | delayMicroseconds(10); |
| 50 | off(trigger); |
| 51 | ping_time = pulseIn(echo, HIGH); |
| 52 | if(ping_time <= 0){ |
| 53 | ping_time = 3000;} |
| 54 | // sonar needs some time to recover before pinging again, |
| 55 | // so make sure it gets enough sleep right here. 50 milliseconds |
| 56 | delay(50); |
| 57 | return ping_time;} |
| 58 | |
| 59 | void setup(){ |
| 60 | Serial.begin(9600); |
| 61 | |
| 62 | pinMode(right_motor_speed_pin, OUTPUT); |
| 63 | pinMode(right_motor_forward_pin, OUTPUT); |
| 64 | pinMode(right_motor_backward_pin, OUTPUT); |
| 65 | |
| 66 | pinMode(right_echo_pin, INPUT); |
| 67 | pinMode(right_trigger_pin, OUTPUT); |
| 68 | |
| 69 | pinMode(left_motor_speed_pin, OUTPUT); |
| 70 | pinMode(left_motor_forward_pin, OUTPUT); |
| 71 | pinMode(left_motor_backward_pin, OUTPUT); |
| 72 | |
| 73 | pinMode(left_echo_pin, INPUT); |
| 74 | pinMode(left_trigger_pin, OUTPUT); |
| 75 | |
| 76 | off(left_motor_speed_pin); |
| 77 | off(left_motor_forward_pin); |
| 78 | off(left_motor_backward_pin); |
| 79 | off(left_trigger_pin); |
| 80 | |
| 81 | off(right_motor_speed_pin); |
| 82 | off(right_motor_forward_pin); |
| 83 | off(right_motor_backward_pin); |
| 84 | off(right_trigger_pin); } |
| 85 | |
| 86 | void loop() { |
| 87 | int left_speed; |
| 88 | int right_speed; |
| 89 | |
| 90 | // you'll need to adjust these based on your sonar sensor's behavior |
| 91 | int desired_right_ping_time = 800; |
| 92 | int desired_left_ping_time = 800; |
| 93 | |
| 94 | unsigned int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin); |
| 95 | unsigned int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin); |
| 96 | |
| 97 | /* int left_led_value = (int)(actual_left_ping_time / 16.0); */ |
| 98 | /* int right_led_value = (int)(actual_right_ping_time / 16.0); */ |
| 99 | |
| 100 | /* analogWrite(left_led_pin, left_led_value); */ |
| 101 | /* analogWrite(right_led_pin, right_led_value); */ |
| 102 | |
| 103 | /* Serial.print("left led value = "); */ |
| 104 | /* Serial.print(left_led_value); */ |
| 105 | /* Serial.print(", right led value = "); */ |
| 106 | /* Serial.print(right_led_value); */ |
| 107 | |
| 108 | left_speed = actual_left_ping_time - desired_left_ping_time; |
| 109 | right_speed = actual_right_ping_time - desired_right_ping_time; |
| 110 | |
| 111 | Serial.print(", left: ping = "); |
| 112 | Serial.print(actual_left_ping_time); |
| 113 | Serial.print(" speed = "); |
| 114 | Serial.print(left_speed); |
| 115 | Serial.print(" right: ping = "); |
| 116 | Serial.print(actual_right_ping_time); |
| 117 | Serial.print(" speed = "); |
| 118 | Serial.print(right_speed); |
| 119 | Serial.println(); |
| 120 | |
| 121 | go(left_speed, right_speed); } |
| 122 | |
| 123 | /* |
| 124 | This program is free software: you can redistribute it and/or modify |
| 125 | it under the terms of the GNU Affero General Public License as |
| 126 | published by the Free Software Foundation, either version 3 of the |
| 127 | License, or (at your option) any later version. |
| 128 | |
| 129 | This program is distributed in the hope that it will be useful, |
| 130 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 131 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 132 | GNU Affero General Public License for more details. |
| 133 | |
| 134 | You should have received a copy of the GNU Affero General Public License |
| 135 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 136 | */ |