along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
-// define which pins are connected to which components
-int right_motor_speed_pin = 3; // orange wire
-int right_motor_forward_pin = 4; // brown
-int right_motor_backward_pin = 5; // purple
-
-int right_echo_pin = 6; // white
-int right_trigger_pin = 7; // blue
-
-int left_motor_speed_pin = 8; // orange
-int left_motor_forward_pin = 9; // brown
-int left_motor_backward_pin = 10; // purple
-
-int left_echo_pin = 11; // white
-int left_trigger_pin = 12; // blue
+#include "bot_map.h"
void on(int pin){
digitalWrite(pin, HIGH);}
else{ // speed is 0
off(forward_pin);
off(backward_pin);}
+ // since speed has been set positive, no need to check if speed < -255.
if(speed > 255){
speed = 255;}
analogWrite(speed_pin, speed);}
// adjust this number as necessary for your robot.
// it represents how far the table is from your sonar sensor.
- // larger values mean larger distance. default is 400
- int right_max_ping_time_over_table = 500;
- int left_max_ping_time_over_table = 500;
- int backup_time = 2000;
+ // larger values mean larger distance. default is 800
+ int right_max_ping_time_over_table = 800;
+ int left_max_ping_time_over_table = 800;
+ int backup_time = 1000;
// the exact amount of time for turning around might need
// twerking for your robot. the default value is 3200
- int turn_around_time = 2133;
+ int turn_around_time = 3200;
int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin);
int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin);
+ /* int left_led_value = (int)(actual_left_ping_time / 16.0); */
+ /* int right_led_value = (int)(actual_right_ping_time / 16.0); */
+
+ /* Serial.print("left led value = "); */
+ /* Serial.print(left_led_value); */
+ /* Serial.print(", right led value = "); */
+ /* Serial.print(right_led_value); */
+
+ /* analogWrite(left_led_pin, left_led_value); */
+ /* analogWrite(right_led_pin, right_led_value); */
+
Serial.print("left ping = ");
Serial.print(actual_left_ping_time);
Serial.print("\tright_ping = ");