From: daniel watson Date: Tue, 30 Jul 2013 21:48:52 +0000 (-0700) Subject: add code for phase0 through phase3 X-Git-Url: http://challenge-bot.com/repos/?p=challenge-bot;a=commitdiff_plain;h=a77b88c55bdaa8f85d565aaddf62e03e77549a5e add code for phase0 through phase3 --- diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..dba13ed --- /dev/null +++ b/LICENSE @@ -0,0 +1,661 @@ + GNU AFFERO GENERAL PUBLIC LICENSE + Version 3, 19 November 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU Affero General Public License is a free, copyleft license for +software and other kinds of works, specifically designed to ensure +cooperation with the community in the case of network server software. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + 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 . + +Also add information on how to contact you by electronic and paper mail. + + If your software can interact with users remotely through a computer +network, you should also make sure that it provides a way for users to +get its source. For example, if your program is a web application, its +interface could display a "Source" link that leads users to an archive +of the code. There are many ways you could offer source, and different +solutions will be better for different programs; see section 13 for the +specific requirements. + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU AGPL, see +. diff --git a/README.md b/README.md index dfdbef7..e4106e3 100644 --- a/README.md +++ b/README.md @@ -27,194 +27,6 @@ feels inclined to use: The basic robot would be built in three phases: -### Phase 1: Arduino + Blinky LED's: - -Goals: - -* Cut peg board to size using hack saw -* Get Arduino IDE installed on laptop. -* Drill Arduino mounting holes in peg board -* Mount Arduino to peg board using screws -* Mount Mini Breadboard to peg board -* Install LED + resistor on breadboard -* Hook up LED to Arduino -* Download Blinky LED program - -Bill of Materials: - -* 1 Arduino(tm) board + USB Cable (SainSmart: 20-011-110: ~$14/10) -* 1 Mini BreadBoard (Ebay: ~$3/10) -* 1 Breadboard cables (Ebay: ~$4/10) -* 1 4in x 5in peg board to mount arduino + miniboard -* 4 small squares of double sided tape -* 3 #4-40 Phillips 1/2" flat-head screws -* 6 #4-40 hex nuts -* 3 #4 lock washers -* 2 Red LED's -* 2 Yellow LED's -* 2 Green LED's -* 6 330 Ohm Resistors - -Required Tools: - -* 1 Safety glasses!!! -* 1 Laptop Windows or MacOS or Linux -* 1 Hack saw (to cut peg board) -* 1 Phillips screw driver -* 1 Drill + Drill Bits -* 1 Pliers - -### Phase 2: Build Robot Platform - -Goals: - -* Solder 2 motor wires to each motor -* Mount Motors to brackets -* Mount brackets to base -* Attach to caster to base -* Attach Arduino+Breadboard to peg board base with screws -* Install SN754410NE on breadboard -* Connect motors to breadboard -* Connect Arduino to breadboard -* Download a program to make the base move forward and backward - -Bill of Materials: - -* 1 8in x 8in peg board for robot base -* 2 GM3 gear motors (Solarbotics: $11.50/2) -* 2 GMPW Wheels (Solarbotics: $6.50/2) -* 2 Wheel brackets (custom: ~$3/2) -* 1 4AA Battery Holder w/cover&switch (Jameco: 216187: ~$1.05) -* 1 9V Battery Holder w/cover&switch (Jameco: 2128067: ~$1.40) -* 4 AA Batteries (Brooklyn Batteries) -* 1 9V Battery (Brooklyn Batteries) -* 1 Ball Castor (Walgreens: Roll-on Deoderant: ~$3) -* 1 SN754410NE Dual H-Bridge (Future: ~$1) -* 14 #6-32 3/4in Phillips Pan-Head screws (Olander) -* 21 #6 Washers (Olander) -* 28 #6-32 Hex Nuts (Olander) -* 14 #6 internal tooth lock washers (Olander) -* 4 #4-40 1in Phillips Flat-Head screws (Olander) -* 4 #4-40 Regular Pattern Hex Nut (Olander) -* 2 #4-40 3/4in Phillips Flat-Head screws (Olander) -* 2 #4-40 Small Pattern Hex Nut (Olander) -* 2 Nylon ties (Frys) -* 5 Rubber bands (Office Depot) - -Additional Required Tools: - -* 1 Soldering iron -* 1 Roll of solder -* 1 Solder tip cleaner -* 1 Diagonal cutter -* 1 Wire Stripper - -### Phase 3: Build TableTop Challenge Phase 1 - -Goals: - -* Cut out two pieces of Peg Board -* Drill mounting holes for sonar module -* Crimp connectors to cable -* Mount Sonar modules to Robot base -* Plug Sonar modules into breadboard + Arduino -* Develop table top challenge code - -Bill of Materials: - -* 1 ?in x ?in peg board sonar holders -* 2 Sonar sensors (EBay: HC-SR04 ~$4/2) -* 4 2x8 .1in Female IDC connectors -* 2 12in 8 conductor ribbon cable -* 2 1x4 .1in Male-to-Male Headers -* 4 #4-40 Phillips Pan Head Screws -* 8 #4-40 Hex nuts -* 4 #4 Washers -* 4 #4 internal tooth lock washers -* 2 #6-32 Phillips Pan Head Screws -* 2 #6-32 Hex Nuts -* 4 #6 Washers -* 2 #6 internal tool lock washers -* 1 18" of twine (for a Wyland leash) - -Additional Required Tools: - -* 1 Benchtop vice - -That provides the basic configuration. - -## Rechargable Battery Upgrade - -This gets rid of the hassle of buying and throwing -away AA batteries. - -Bill of Materials: - -* 2 7.2V 1300mAh LiPo Battery Packs (Trossen: BAT-7V1300M: $26/2) -* 1 LiPo Battery Charger (Trossen: KIT-CHG-LIPO: ($16+$11)/1) -* 2 Female Deans Connector (TBD) -* 1 DPDT Power Switch (TBD) - -## Raspberry Pi Upgrade - -The DC-DC convert is rated for 1.5A and can be -plugged into the breadboard. The ribbon cable -can be assembled with just a vise. The RasPi -allows 5V to be injected over the cable. Obviously -the RasPi allows people to start trying out ROS. - -Bill of Materials: - -* 1 Raspberry Pi Model B 512MB (Newark: $35) -* 1 OKI-78SR-5/1.5-W36: 5V@1.5A DC/DC Switcher (Digikey: $4.30) -* 1 2x13 Female Ribbon Cable Header -* 1 16-conductor chunk of ribbon cable -* 1 2x8 Female Ribbon Cable Header -* 1 1x8 Male to Male pins header pins - -## Odometry Upgrade - -This upgrade requires some work. - -Bill of Materials: - -* 2 AS5055 ($10/2) -* 2 AS5055 PCB's -* 2 Appropriate magnet ($2/2) -* 2 GM3 to magnet shaft adaptor - -An adaptor from the GM3 to Magnet is needed; -this would be custom made out of some plastic. -In addition a custom PCB is needed to hold -the AS5055 which is a surface mount chip. - -## WiFi Upgrade - -Something like the GMYLE using the RTL8191SU should -do the trick. With this it is possible to network -into your robot. There it may be necessary to have -separate power injection for the Wi-Fi. - -Bill of Materials: - -* 1 USB WiFi Dongle with decent antenna (Amazon: ~9) - -## Camera Upgrade - -This RasPi camera has not shipped yet, but it seems -to be nearing the end of prototyping. A USB camera -is another alternative. - -Bill of Materials: - -* 1 RasPi Camera (~$25) - -## Cheap Arm Upgrade - -Bill of Materials: -* 4 Hobby servos (base twist, shoulder, elbow, gripper) -* 1 Gripper (Jameco 358811: $20) -* Appropriate struts - -This is a low payload arm that can lift 10-20 oz max. - +### Phase 0: Arduino + Blinky LED's: +### Phase 1: Build Robot Platform +### Phase 2: Build TableTop Challenge Phase 1 diff --git a/bill-of-materials b/bill-of-materials new file mode 100644 index 0000000..cca9f23 --- /dev/null +++ b/bill-of-materials @@ -0,0 +1,14 @@ +Bill of Materials: + +* 1 Arduino(tm) board + USB Cable (SainSmart: 20-011-110: ~$14/10) +* 1 Mini BreadBoard (Ebay: ~$3/10) +* 1 Breadboard cables (Ebay: ~$4/10) +* 1 4in x 5in peg board to mount arduino + miniboard +* 4 small squares of double sided tape +* 3 #4-40 Phillips 1/2" flat-head screws +* 6 #4-40 hex nuts +* 3 #4 lock washers +* 2 Red LED's +* 2 Yellow LED's +* 2 Green LED's +* 6 330 Ohm Resistors diff --git a/phase0/README.md b/phase0/README.md new file mode 100644 index 0000000..a64183a --- /dev/null +++ b/phase0/README.md @@ -0,0 +1,36 @@ +### Phase 1: Arduino + Blinky LED's: + +Goals: + +* Cut peg board to size using hack saw +* Get Arduino IDE installed on laptop. +* Drill Arduino mounting holes in peg board +* Mount Arduino to peg board using screws +* Mount Mini Breadboard to peg board +* Install LED + resistor on breadboard +* Hook up LED to Arduino +* Download Blinky LED program + +Bill of Materials: + +* 1 Arduino(tm) board + USB Cable (SainSmart: 20-011-110: ~$14/10) +* 1 Mini BreadBoard (Ebay: ~$3/10) +* 1 Breadboard cables (Ebay: ~$4/10) +* 1 4in x 5in peg board to mount arduino + miniboard +* 4 small squares of double sided tape +* 3 #4-40 Phillips 1/2" flat-head screws +* 6 #4-40 hex nuts +* 3 #4 lock washers +* 2 Red LED's +* 2 Yellow LED's +* 2 Green LED's +* 6 330 Ohm Resistors + +Required Tools: + +* 1 Safety glasses!!! +* 1 Laptop Windows or MacOS or Linux +* 1 Hack saw (to cut peg board) +* 1 Phillips screw driver +* 1 Drill + Drill Bits +* 1 Pliers diff --git a/phase0/phase0.ino b/phase0/phase0.ino new file mode 100644 index 0000000..8a80269 --- /dev/null +++ b/phase0/phase0.ino @@ -0,0 +1,90 @@ +/* + 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 . + */ +/* + Blink + Turns on an LED on for one second, then off for one second, repeatedly. + + This example code is in the public domain. + */ +int red0 = 12; +int yellow0 = 11; +int green0 = 10; + +int red1 = 7; +int yellow1 = 6; +int green1 = 5; + +void setup() { + // initialize the digital pin as an output. + // Pin 13 has an LED connected on most Arduino boards: + + pinMode(red0, OUTPUT); + pinMode(red1, OUTPUT); + pinMode(yellow0, OUTPUT); + pinMode(yellow1, OUTPUT); + pinMode(green0, OUTPUT); + pinMode(green1, OUTPUT); +} + +void on(int led) { + digitalWrite(led, HIGH); +} + +void off(int led) { + digitalWrite(led, LOW); +} + +void ons_offs(int* ons, int onsc, + int* offs, int offsc, + int delay_time) { + int ii; + for(ii = 0; ii < offsc; ii++) { + off(offs[ii]); + } + for(ii = 0; ii < onsc; ii++) { + on(ons[ii]); + } + delay(delay_time); +} + +void loop() { + int red_wait = 300; + int yellow_wait = 800; + int green_wait = 1600; + + ons_offs((int[]){red0, green1}, 2, + (int[]){yellow0, green0, red1, yellow1}, 4, + green_wait); + + ons_offs((int[]){red0, yellow1}, 2, + (int[]){yellow0, green0, red1, green1}, 4, + yellow_wait); + + ons_offs((int[]){red0, red1}, 2, + (int[]){yellow0, green0, yellow1, green1}, 4, + red_wait); + + ons_offs((int[]){green0, red1}, 2, + (int[]){red0, yellow0, yellow1, green1}, 4, + green_wait); + + ons_offs((int[]){yellow0, red1}, 2, + (int[]){red0, green0, yellow1, green1}, 4, + yellow_wait); + + ons_offs((int[]){red0, red1}, 2, + (int[]){yellow0, green0, yellow1, green1}, 4, + red_wait); +} diff --git a/phase1/README.md b/phase1/README.md new file mode 100644 index 0000000..830ea97 --- /dev/null +++ b/phase1/README.md @@ -0,0 +1,44 @@ +### Phase 1: Build Robot Platform + +Goals: + +* Solder 2 motor wires to each motor +* Mount Motors to brackets +* Mount brackets to base +* Attach to caster to base +* Attach Arduino+Breadboard to peg board base with screws +* Install SN754410NE on breadboard +* Connect motors to breadboard +* Connect Arduino to breadboard +* Download a program to make the base move forward and backward + +Bill of Materials: + +* 1 8in x 8in peg board for robot base +* 2 GM3 gear motors (Solarbotics: $11.50/2) +* 2 GMPW Wheels (Solarbotics: $6.50/2) +* 2 Wheel brackets (custom: ~$3/2) +* 1 4AA Battery Holder w/cover&switch (Jameco: 216187: ~$1.05) +* 1 9V Battery Holder w/cover&switch (Jameco: 2128067: ~$1.40) +* 4 AA Batteries (Brooklyn Batteries) +* 1 9V Battery (Brooklyn Batteries) +* 1 Ball Castor (Walgreens: Roll-on Deoderant: ~$3) +* 1 SN754410NE Dual H-Bridge (Future: ~$1) +* 14 #6-32 3/4in Phillips Pan-Head screws (Olander) +* 21 #6 Washers (Olander) +* 28 #6-32 Hex Nuts (Olander) +* 14 #6 internal tooth lock washers (Olander) +* 4 #4-40 1in Phillips Flat-Head screws (Olander) +* 4 #4-40 Regular Pattern Hex Nut (Olander) +* 2 #4-40 3/4in Phillips Flat-Head screws (Olander) +* 2 #4-40 Small Pattern Hex Nut (Olander) +* 2 Nylon ties (Frys) +* 5 Rubber bands (Office Depot) + +Additional Required Tools: + +* 1 Soldering iron +* 1 Roll of solder +* 1 Solder tip cleaner +* 1 Diagonal cutter +* 1 Wire Stripper diff --git a/phase1/phase1.ino b/phase1/phase1.ino new file mode 100644 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 . + */ +/* + 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 +} diff --git a/phase2/README.md b/phase2/README.md new file mode 100644 index 0000000..489e2b4 --- /dev/null +++ b/phase2/README.md @@ -0,0 +1,108 @@ +### Phase 2: Build TableTop Challenge Phase 1 + +Goals: + +* Cut out two pieces of Peg Board +* Drill mounting holes for sonar module +* Crimp connectors to cable +* Mount Sonar modules to Robot base +* Plug Sonar modules into breadboard + Arduino +* Develop table top challenge code + +Bill of Materials: + +* 1 ?in x ?in peg board sonar holders +* 2 Sonar sensors (EBay: HC-SR04 ~$4/2) +* 4 2x8 .1in Female IDC connectors +* 2 12in 8 conductor ribbon cable +* 2 1x4 .1in Male-to-Male Headers +* 4 #4-40 Phillips Pan Head Screws +* 8 #4-40 Hex nuts +* 4 #4 Washers +* 4 #4 internal tooth lock washers +* 2 #6-32 Phillips Pan Head Screws +* 2 #6-32 Hex Nuts +* 4 #6 Washers +* 2 #6 internal tool lock washers +* 1 18" of twine (for a Wyland leash) + +Additional Required Tools: + +* 1 Benchtop vice + +That provides the basic configuration. + +## Rechargable Battery Upgrade + +This gets rid of the hassle of buying and throwing +away AA batteries. + +Bill of Materials: + +* 2 7.2V 1300mAh LiPo Battery Packs (Trossen: BAT-7V1300M: $26/2) +* 1 LiPo Battery Charger (Trossen: KIT-CHG-LIPO: ($16+$11)/1) +* 2 Female Deans Connector (TBD) +* 1 DPDT Power Switch (TBD) + +## Raspberry Pi Upgrade + +The DC-DC convert is rated for 1.5A and can be +plugged into the breadboard. The ribbon cable +can be assembled with just a vise. The RasPi +allows 5V to be injected over the cable. Obviously +the RasPi allows people to start trying out ROS. + +Bill of Materials: + +* 1 Raspberry Pi Model B 512MB (Newark: $35) +* 1 OKI-78SR-5/1.5-W36: 5V@1.5A DC/DC Switcher (Digikey: $4.30) +* 1 2x13 Female Ribbon Cable Header +* 1 16-conductor chunk of ribbon cable +* 1 2x8 Female Ribbon Cable Header +* 1 1x8 Male to Male pins header pins + +## Odometry Upgrade + +This upgrade requires some work. + +Bill of Materials: + +* 2 AS5055 ($10/2) +* 2 AS5055 PCB's +* 2 Appropriate magnet ($2/2) +* 2 GM3 to magnet shaft adaptor + +An adaptor from the GM3 to Magnet is needed; +this would be custom made out of some plastic. +In addition a custom PCB is needed to hold +the AS5055 which is a surface mount chip. + +## WiFi Upgrade + +Something like the GMYLE using the RTL8191SU should +do the trick. With this it is possible to network +into your robot. There it may be necessary to have +separate power injection for the Wi-Fi. + +Bill of Materials: + +* 1 USB WiFi Dongle with decent antenna (Amazon: ~9) + +## Camera Upgrade + +This RasPi camera has not shipped yet, but it seems +to be nearing the end of prototyping. A USB camera +is another alternative. + +Bill of Materials: + +* 1 RasPi Camera (~$25) + +## Cheap Arm Upgrade + +Bill of Materials: +* 4 Hobby servos (base twist, shoulder, elbow, gripper) +* 1 Gripper (Jameco 358811: $20) +* Appropriate struts + +This is a low payload arm that can lift 10-20 oz max. diff --git a/phase2/phase2.ino b/phase2/phase2.ino new file mode 100644 index 0000000..687f2e7 --- /dev/null +++ b/phase2/phase2.ino @@ -0,0 +1,160 @@ +/* + 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 . + */ +/* + Motor. + Runs both motors back and forth. +n + 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; + +// ping sensors +int left_trigger = 12; +int left_echo = 11; +int right_trigger = 7; +int right_echo = 6; + +// the setup routine runs once when you press reset: +void setup() { + Serial.begin(9600); + + // 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); + + // ping sensors + pinMode(left_trigger, OUTPUT); + pinMode(left_echo, INPUT); + pinMode(right_trigger, OUTPUT); + pinMode(right_echo, INPUT); + + digitalWrite(led, HIGH); + digitalWrite(motor1_enable, LOW); + digitalWrite(motor1a, LOW); + digitalWrite(motor1b, LOW); + digitalWrite(motor2_enable, LOW); + digitalWrite(motor2a, LOW); + digitalWrite(motor2b, LOW); +} + +void +on(int pin) +{ + digitalWrite (pin, HIGH); +} + +void +off(int pin) +{ + digitalWrite (pin, LOW); +} + +int +ping(int trigger, int echo) +{ + int ping_time; + on(trigger); + delayMicroseconds(12); + off(trigger); + ping_time = pulseIn (echo, HIGH); + if (ping_time <= 0) + ping_time = 3000; + return ping_time; +} + +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(motor1_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(motor2_enable, right); // Start motor in right direction + + delay(ms_delay); // Wait the specified amount of time +} + +// the loop routine runs over and over again forever: +void +loop() +{ + int left_speed = 0; + int right_speed = 0; + + int left_ping = ping (left_trigger, left_echo); + int right_ping = ping (right_trigger, right_echo); + + /* + Serial.print ("left ping = "); + Serial.print (left_ping); + + Serial.print (" right ping = "); + Serial.println (right_ping); + */ + + if (left_ping < 400) + { + left_speed = 250; + } + + if (right_ping < 400) + { + right_speed = 250; + } + + if (left_speed == 0 && right_speed == 0) + { + // backup + motorsRun(-250, -250, 2000); + // turn around + motorsRun(-250, 250, 3200); + } + else + { + motorsRun(left_speed, right_speed, 0); + } +} diff --git a/phase3/phase3.ino b/phase3/phase3.ino new file mode 100644 index 0000000..0d94518 --- /dev/null +++ b/phase3/phase3.ino @@ -0,0 +1,188 @@ +/* + 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 . + */ +// This program implements table top challenge level 1 -- +// The robot stays on the table without falling off. + +// This example code is in the public domain. + +// Set *debug* to 1 to enable debugging statements: +int debug = 1; + +// Set *stop_at_edge* to 1 to have robot stop at the edge; +// otherwise, it will back away from edge: +int stop_at_edge = 0; + +// Set *table_top_threshold* to a value that captures the +// tabletop distance for *your* robot: +int table_top_threshold = 600; + +// Set *sonar_timeout* to a value a 200-300 uSec longer +// that your table top threshold: + +int sonar_timeout = 1600; + +// Set *sonar_set_point* to a value that specifies the approximate +// follow distance: + +int sonar_follow_distance = 800; + +// Pin definitions: +int led = 13; +int left_motor_enable = 3; +int left_motor_a = 4; +int left_motor_b = 5; +int right_motor_enable = 10; +int right_motor_a = 9; +int right_motor_b = 8; +int right_sonar_trigger = 7; +int right_sonar_echo = 6; +int left_sonar_trigger = 12; +int left_sonar_echo = 11; + +// the setup routine runs once when you press reset: +void setup() { + // If debugging is enabled, + if (debug) { + // 115200 is the fastest "standard" baud rate for debugging. + // Be sure to set the baud Tools=>Serial Monitor to 115200: + Serial.begin(115200); + } + + // Set LED output pin: + pinMode(led, OUTPUT); + + // Set H-bridge control pins: + pinMode(left_motor_enable, OUTPUT); + pinMode(left_motor_a, OUTPUT); + pinMode(left_motor_b, OUTPUT); + pinMode(right_motor_enable, OUTPUT); + pinMode(right_motor_a, OUTPUT); + pinMode(right_motor_b, OUTPUT); + + // Set control pins for both left and right sonars: + pinMode(left_sonar_trigger, OUTPUT); + pinMode(left_sonar_echo, INPUT); + pinMode(right_sonar_trigger, OUTPUT); + pinMode(right_sonar_echo, INPUT); + + // Set all the pin values to predefined values: + digitalWrite(led, HIGH); + digitalWrite(left_motor_enable, LOW); + digitalWrite(left_motor_a, LOW); + digitalWrite(left_motor_b, LOW); + digitalWrite(right_motor_enable, LOW); + digitalWrite(right_motor_a, LOW); + digitalWrite(right_motor_b, LOW); + digitalWrite(left_sonar_trigger, LOW); + digitalWrite(right_sonar_trigger, LOW); + digitalWrite(left_sonar_trigger, LOW); + digitalWrite(right_sonar_trigger, LOW); +} + +void motorsRun(int left, int right, int ms_delay) { + // Set left motor direction: + if (left > 0) { + // Set left motor to go forward: + digitalWrite(left_motor_a, HIGH); + digitalWrite(left_motor_b, LOW); + } else { + // Set left motor to go backward: + digitalWrite(left_motor_a, LOW); + digitalWrite(left_motor_b, HIGH); + left = -left; // Make left a positive value: + } + // Make sure we cap the speed at 255: + if (left > 255) { + left = 255; + } + analogWrite(left_motor_enable, left); // Start motor in right direction + + // Set right motor direction: + if (right > 0) { + // Set right motor to go forward: + digitalWrite(right_motor_a, HIGH); + digitalWrite(right_motor_b, LOW); + } else { + // Set right motor to go backward: + digitalWrite(right_motor_a, LOW); + digitalWrite(right_motor_b, HIGH); + right = -right; // Make right a positive value: + } + // Make sure we cap the speed at 255: + if (right > 255) { + right = 255; + } + analogWrite(right_motor_enable, right); // Start motor in right direction + + delay(ms_delay); // Wait the specified amount of time +} + +// This routine will trigger a HC-SR04 sonar that has its +// trigger pin attached to *sonar_trigger* and its echo +// pin attached to *sonar_echo*. If the echo response +// takes longer than *timeout* microseconds, *timeout* is +// returned. +int ping(int sonar_trigger, int sonar_echo, int timeout) { + int result = timeout; + if (!digitalRead(sonar_echo)) { + // *sonar_echo* is LOW, so we can safely trigger a 12uS + // trigger pulse: + digitalWrite(sonar_trigger, HIGH); + delayMicroseconds(12); + digitalWrite(sonar_trigger, LOW); + + // Time the resulting echo pulse. If the resulting echo pulse + // is longer than *timeout*, *pulseIn* returns 0. + result = pulseIn(sonar_echo, HIGH, timeout); + + if (result == 0) { + // We timed out, so return *timeout*: + result = timeout; + } + } // else *sonar_echo* is still high from the previous trigger; + // return *timeout* when this occurs. + return result; +} + +// the loop routine runs over and over again forever: +void loop() { + // Get the left and right sonar values: + int left_ping = ping(left_sonar_trigger, left_sonar_echo, sonar_timeout); + int right_ping = ping(right_sonar_trigger, right_sonar_echo, sonar_timeout); + + // Set the left and right motor speed: + int left_speed = left_ping - sonar_follow_distance; + int right_speed = right_ping - sonar_follow_distance; + + // Debugging code: + if (debug) { + // Print some debugging information: + Serial.print("lp="); + Serial.print(left_ping); + Serial.print(" rp="); + Serial.print(right_ping); + Serial.print(" ls="); + Serial.print(left_speed); + Serial.print(" rs="); + Serial.println(right_speed); + + // Delay a little so that the serial port does not get + // swamped with debugging information: + delay(100); + } + + // Set the motor speeds: + motorsRun(left_speed, right_speed, 0); +}