add code for phase0 through phase3

[challenge-bot] / phase1 / phase1.ino

diff --git a/phase1/phase1.ino b/phase1/phase1.ino
new file mode 100644 (file)
index 0000000..642bb7f
--- /dev/null
+++ b/phase1/phase1.ino
@@ -0,0 +1,93 @@
+/*
+ This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Affero General Public License as
+    published by the Free Software Foundation, either version 3 of the
+    License, or (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Affero General Public License for more details.
+
+    You should have received a copy of the GNU Affero General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Motor.
+  Runs both motors back and forth.
+
+  This example code is in the public domain.
+ */
+
+// Pin 13 has an LED connected on most Arduino boards.
+// give it a name:
+int led = 13;
+int motor1_enable = 10;
+int motor1a = 9;
+int motor1b = 8;
+int motor2_enable = 3;
+int motor2a = 4;
+int motor2b = 5;
+
+// the setup routine runs once when you press reset:
+void setup() {
+  // initialize the digital pin as an output.
+  pinMode(led, OUTPUT);
+  pinMode(motor1_enable, OUTPUT);
+  pinMode(motor1a, OUTPUT);
+  pinMode(motor1b, OUTPUT);
+  pinMode(motor2_enable, OUTPUT);
+  pinMode(motor2a, OUTPUT);
+  pinMode(motor2b, OUTPUT);
+
+  digitalWrite(led, HIGH);
+  digitalWrite(motor1_enable, LOW);
+  digitalWrite(motor1a, LOW);
+  digitalWrite(motor1b, LOW);
+  digitalWrite(motor2_enable, LOW);
+  digitalWrite(motor2a, LOW);
+  digitalWrite(motor2b, LOW);
+}
+
+void motorsRun(int left, int right, int ms_delay) {
+  // Set left motor direction:
+  if (left > 0) {
+    // Set left motor to go forward:
+    digitalWrite(motor1a, HIGH);
+    digitalWrite(motor1b, LOW);
+  } else {
+    // Set left motor to go backward:
+    digitalWrite(motor1a, LOW);
+    digitalWrite(motor1b, HIGH);
+    left = -left;                   // Make left a positive value:
+  }
+
+  analogWrite(motor2_enable, left); // Start motor in right direction
+  // Set left motor direction:
+  if (right > 0) {
+    // Set right motor to go forward:
+    digitalWrite(motor2a, HIGH);
+    digitalWrite(motor2b, LOW);
+  } else {
+    // Set right motor to go backward:
+    digitalWrite(motor2a, LOW);
+    digitalWrite(motor2b, HIGH);
+    right = -right;                 // Make right a positive value:
+  }
+  analogWrite(motor1_enable, left); // Start motor in right direction
+
+  delay(ms_delay);                  // Wait the specified amount of time
+
+  // Stop both motors:
+  analogWrite(motor1_enable, 0);
+  analogWrite(motor2_enable, 0);
+}
+
+// the loop routine runs over and over again forever:
+void loop() {
+
+  digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
+  motorsRun(100, 100, 2000);// Run the robot forward
+  digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
+  motorsRun(-100, -100, 2000); // Run the robot backward
+}