along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
-#include "bot_map.h"
+#include "bot_with_leds_map.h"
void on(int pin){
digitalWrite(pin, HIGH);}
speed = 255;}
analogWrite(speed_pin, speed);}
-void go(int left_motor_speed, int right_motor_speed){
+void go(const int left_motor_speed, const int right_motor_speed){
set_motor(left_motor_speed_pin,
left_motor_forward_pin,
left_motor_backward_pin,
delay(50);
return ping_time;}
-void backup(int backup_time){
- go(-250, -250);
- delay(backup_time);}
-
-void turn_around(int turn_around_time){
- go(-250, 250);
- delay(turn_around_time);}
-
void setup(){
Serial.begin(9600);
pinMode(button_pin, INPUT_PULLUP);
+ pinMode(left_led_pin, OUTPUT);
+ pinMode(right_led_pin, OUTPUT);
+
pinMode(right_motor_speed_pin, OUTPUT);
pinMode(right_motor_forward_pin, OUTPUT);
pinMode(right_motor_backward_pin, OUTPUT);
off(right_motor_backward_pin);
off(right_trigger_pin);}
-void stay_on_table(){
- Serial.print("stay on table");
- int left_speed;
- int right_speed;
+enum class Stay_on_table_state {
+ going, start_backing, backing, start_turning, turning };
+static Stay_on_table_state stay_on_table_state =
+ Stay_on_table_state::going;
+void going(const unsigned int left_ping_time,
+ const unsigned int right_ping_time) {
+ Serial.print("going ");
int forward_speed = 250;
int stop_speed = 0;
+ int left_speed;
+ int right_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 800
- int right_max_ping_time_over_table = 800;
- int left_max_ping_time_over_table = 800;
- int backup_time = 500;
+ const int right_max_ping_time_over_table = 800;
+ const int left_max_ping_time_over_table = 800;
+
+ if (left_ping_time <= left_max_ping_time_over_table
+ || right_ping_time <= right_max_ping_time_over_table) {
+ if(left_ping_time <= left_max_ping_time_over_table) {
+ left_speed = forward_speed; }
+ else {
+ left_speed = stop_speed; }
+ if(right_ping_time <= right_max_ping_time_over_table) {
+ right_speed = forward_speed; }
+ else {
+ right_speed = stop_speed; } }
+ else { // both ping times were above max acceptable ping time
+ left_speed = right_speed = 0;
+ stay_on_table_state = Stay_on_table_state::start_backing; }
+
+ go(left_speed, right_speed); }
+
+void backing(unsigned long start_backing) {
+ Serial.print("backing ");
+ static const unsigned int allowed_backup_duration = 500;
+ unsigned long now = millis();
+ unsigned long backup_duration = now - start_backing;
+
+ go(-250, -250);
+
+ if(backup_duration > allowed_backup_duration) {
+ stay_on_table_state = Stay_on_table_state::start_turning; } }
+
+void turning(unsigned long start_turning_time) {
+ Serial.print("turning ");
// the exact amount of time for turning around might need
// twerking for your robot. the default value is 3200
- int turn_around_time = 2500;
-
- 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 = "); */
- /* Serial.print(actual_right_ping_time); */
-
- // if the left sonar senses a table, keep driving left side forward,
- // otherwise, stop left side
- if(actual_left_ping_time < left_max_ping_time_over_table){
- left_speed = forward_speed;}
- else{
- left_speed = stop_speed;}
- // if the right sonar senses a table, keep driving right side forward,
- // otherwise, stop right side
- if(actual_right_ping_time < right_max_ping_time_over_table){
- right_speed = forward_speed;}
- else{
- right_speed = stop_speed;}
-
- // if both sonars detect being off the table, backup and turn around
- // otherwise, go the correct speed for each wheel
- if(actual_left_ping_time >= left_max_ping_time_over_table
- && actual_right_ping_time >= right_max_ping_time_over_table){
- /* Serial.print("backing up"); */
- backup(backup_time);
- /* Serial.print("turning around"); */
- turn_around(turn_around_time);}
- else{
- /* Serial.print("going"); */
- go(left_speed, right_speed);}}
-
-void follow() {
- Serial.print("following!");
- delay(100); }
+ static const unsigned int allowed_turning_duration = 2500;
+ unsigned long now = millis();
+ unsigned long turning_duration = now - start_turning_time;
+
+ go(-250, 250);
+
+ if(turning_duration > allowed_turning_duration) {
+ stay_on_table_state = Stay_on_table_state::going; } }
+
+void stay_on_table(const unsigned int left_ping_time,
+ const unsigned int right_ping_time){
+ Serial.print("stay on table ");
+ static unsigned long start_backing_time = 0;
+ static unsigned long start_turning_time = 0;
+
+
+ switch(stay_on_table_state) {
+ case Stay_on_table_state::going:
+ going(left_ping_time, right_ping_time);
+ break;
+ case Stay_on_table_state::start_backing:
+ Serial.print("start backing ");
+ start_backing_time = millis();
+ stay_on_table_state = Stay_on_table_state::backing;
+ case Stay_on_table_state::backing:
+ backing(start_backing_time);
+ break;
+ case Stay_on_table_state::start_turning:
+ Serial.print("start turning ");
+ start_turning_time = millis();
+ stay_on_table_state = Stay_on_table_state::turning;
+ case Stay_on_table_state::turning:
+ turning(start_turning_time);
+ break; } }
+
+void follow(const unsigned int left_ping_time,
+ const unsigned int right_ping_time) {
+ // you'll need to adjust these based on your sonar sensor's behavior
+ const unsigned int desired_right_ping_time = 800;
+ const unsigned int desired_left_ping_time = 800;
+
+ const int
+ left_speed = left_ping_time - desired_left_ping_time,
+ right_speed = right_ping_time - desired_right_ping_time;
+
+ go(left_speed, right_speed); }
enum class Behavior {stay_on_table, follow};
Behavior behavior = Behavior::stay_on_table;
Serial.print(" ");
count++;
+ const unsigned int
+ left_ping_time = ping(left_trigger_pin, left_echo_pin),
+ right_ping_time = ping(right_trigger_pin, right_echo_pin);
+ const unsigned int
+ left_led_value = map(left_ping_time, 0, 3000, 0, 255),
+ right_led_value = map(right_ping_time, 0, 3000, 0, 255);
+ analogWrite(left_led_pin, left_led_value);
+ analogWrite(right_led_pin, right_led_value);
+
Button_state button_state =
(digitalRead(button_pin) == HIGH)
? Button_state::up
off(LED_BUILTIN); }
switch(behavior) {
- case Behavior::stay_on_table: stay_on_table(); break;
- case Behavior:: follow: follow(); break; }
+ case Behavior::stay_on_table:
+ stay_on_table(left_ping_time, right_ping_time);
+ break;
+ case Behavior:: follow:
+ follow(left_ping_time, right_ping_time);
+ break; }
prior_button_state = button_state;
projects / challenge-bot / blobdiff