From ce941be740b45737d19eaa5c726b2f99efabe0b9 Mon Sep 17 00:00:00 2001 From: daniel watson Date: Mon, 11 Dec 2017 00:42:03 -0800 Subject: [PATCH] define wiring in separate file Change-Id: I892c815c707b2032ab576b9aa953d283624daa3e --- build-stages/g_follow/bot_map.h | 57 ++++++++++++++ build-stages/g_follow/bot_with_leds_map.h | 69 ++++++++++++++++ build-stages/g_follow/g_follow.ino | 78 +++++++------------ build-stages/h_stay_on_table/bot_map.h | 57 ++++++++++++++ .../h_stay_on_table/bot_with_leds_map.h | 48 ++++++++++++ .../h_stay_on_table/h_stay_on_table.ino | 38 ++++----- 6 files changed, 270 insertions(+), 77 deletions(-) create mode 100644 build-stages/g_follow/bot_map.h create mode 100644 build-stages/g_follow/bot_with_leds_map.h create mode 100644 build-stages/h_stay_on_table/bot_map.h create mode 100644 build-stages/h_stay_on_table/bot_with_leds_map.h diff --git a/build-stages/g_follow/bot_map.h b/build-stages/g_follow/bot_map.h new file mode 100644 index 0000000..9ba5307 --- /dev/null +++ b/build-stages/g_follow/bot_map.h @@ -0,0 +1,57 @@ +// license info at bottom of file +// tl;dr AGPLv3+ + +/* + define which pins are connected to which components +*/ + +////////////////////// +// right motor +////////////////////// +// blue wire +int right_motor_forward_pin = 3; +// orange wire +int right_motor_backward_pin = 4; +// white wire +int right_motor_speed_pin = 5; + +////////////////////// +// right sonar sensor +////////////////////// +// yellow wire +int right_echo_pin = 6; +// blue wire +int right_trigger_pin = 7; + +////////////////////// +// left motor +////////////////////// +// blue wire +int left_motor_forward_pin = 8; +// orange wire +int left_motor_backward_pin = 9; +// white wire +int left_motor_speed_pin = 10; + +////////////////////// +// left sonar sensor +////////////////////// +// yellow wire +int left_echo_pin = 11; +// blue wire +int left_trigger_pin = 12; + +/* + 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 . + */ diff --git a/build-stages/g_follow/bot_with_leds_map.h b/build-stages/g_follow/bot_with_leds_map.h new file mode 100644 index 0000000..0f5efee --- /dev/null +++ b/build-stages/g_follow/bot_with_leds_map.h @@ -0,0 +1,69 @@ +// license info at bottom of file +// tl;dr AGPLv3+ + +/* + define which pins are connected to which components +*/ + +////////////////////// +// right LED +////////////////////// +// white wire +int right_led_pin = 3; + +////////////////////// +// right motor +////////////////////// +// blue wire +int right_motor_forward_pin = 2; +// orange wire +int right_motor_backward_pin = 4; +// white wire +int right_motor_speed_pin = 5; + +////////////////////// +// right sonar sensor +////////////////////// +// yellow wire +int right_echo_pin = 6; +// blue wire +int right_trigger_pin = 7; + +////////////////////// +// left motor +////////////////////// +// blue wire +int left_motor_forward_pin = 8; +// orange wire +int left_motor_backward_pin = 13; +// white wire +int left_motor_speed_pin = 10; + +////////////////////// +// left sonar sensor +////////////////////// +// yellow wire +int left_echo_pin = 11; +// blue wire +int left_trigger_pin = 12; + +////////////////////// +// left LED +////////////////////// +// blue wire +int left_led_pin = 9; + +/* + 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 . + */ diff --git a/build-stages/g_follow/g_follow.ino b/build-stages/g_follow/g_follow.ino index 02f6d96..b9cc4af 100644 --- a/build-stages/g_follow/g_follow.ino +++ b/build-stages/g_follow/g_follow.ino @@ -1,48 +1,7 @@ -/* - 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. +// license info at bottom of file +// tl;dr AGPLv3+ - 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 . - */ - -// right side LED, white wire -int right_led_pin = 3; - -// define which pins are connected to which components -// blue wire -int right_motor_forward_pin = 2; -// orange wire -int right_motor_backward_pin = 4; -// white wire -int right_motor_speed_pin = 5; - -// yellow wire -int right_echo_pin = 6; -// blue wire -int right_trigger_pin = 7; - -// blue wire -int left_motor_forward_pin = 8; -// orange wire -int left_motor_backward_pin = 13; -// white wire -int left_motor_speed_pin = 10; - -// yellow wire -int left_echo_pin = 11; -// blue wire -int left_trigger_pin = 12; - -// left side LED, blue wire -int left_led_pin = 9; +#include "bot_map.h" void on(int pin){ digitalWrite(pin, HIGH);} @@ -135,16 +94,16 @@ void loop() { unsigned int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin); unsigned 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); + /* 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); */ - analogWrite(left_led_pin, left_led_value); - analogWrite(right_led_pin, right_led_value); + /* Serial.print("left led value = "); */ + /* Serial.print(left_led_value); */ + /* Serial.print(", right led value = "); */ + /* Serial.print(right_led_value); */ left_speed = actual_left_ping_time - desired_left_ping_time; right_speed = actual_right_ping_time - desired_right_ping_time; @@ -160,3 +119,18 @@ void loop() { Serial.println(); go(left_speed, right_speed); } + +/* + 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 . + */ diff --git a/build-stages/h_stay_on_table/bot_map.h b/build-stages/h_stay_on_table/bot_map.h new file mode 100644 index 0000000..9ba5307 --- /dev/null +++ b/build-stages/h_stay_on_table/bot_map.h @@ -0,0 +1,57 @@ +// license info at bottom of file +// tl;dr AGPLv3+ + +/* + define which pins are connected to which components +*/ + +////////////////////// +// right motor +////////////////////// +// blue wire +int right_motor_forward_pin = 3; +// orange wire +int right_motor_backward_pin = 4; +// white wire +int right_motor_speed_pin = 5; + +////////////////////// +// right sonar sensor +////////////////////// +// yellow wire +int right_echo_pin = 6; +// blue wire +int right_trigger_pin = 7; + +////////////////////// +// left motor +////////////////////// +// blue wire +int left_motor_forward_pin = 8; +// orange wire +int left_motor_backward_pin = 9; +// white wire +int left_motor_speed_pin = 10; + +////////////////////// +// left sonar sensor +////////////////////// +// yellow wire +int left_echo_pin = 11; +// blue wire +int left_trigger_pin = 12; + +/* + 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 . + */ diff --git a/build-stages/h_stay_on_table/bot_with_leds_map.h b/build-stages/h_stay_on_table/bot_with_leds_map.h new file mode 100644 index 0000000..ebb554c --- /dev/null +++ b/build-stages/h_stay_on_table/bot_with_leds_map.h @@ -0,0 +1,48 @@ +// license info at bottom of file +// tl;dr AGPLv3+ + +// right side LED, white wire +int right_led_pin = 3; + +// define which pins are connected to which components +// blue wire +int right_motor_forward_pin = 2; +// orange wire +int right_motor_backward_pin = 4; +// white wire +int right_motor_speed_pin = 5; + +// yellow wire +int right_echo_pin = 6; +// blue wire +int right_trigger_pin = 7; + +// blue wire +int left_motor_forward_pin = 8; +// orange wire +int left_motor_backward_pin = 13; +// white wire +int left_motor_speed_pin = 10; + +// yellow wire +int left_echo_pin = 11; +// blue wire +int left_trigger_pin = 12; + +// left side LED, blue wire +int left_led_pin = 9; + +/* + 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 . + */ diff --git a/build-stages/h_stay_on_table/h_stay_on_table.ino b/build-stages/h_stay_on_table/h_stay_on_table.ino index e2838f5..fcdfa34 100644 --- a/build-stages/h_stay_on_table/h_stay_on_table.ino +++ b/build-stages/h_stay_on_table/h_stay_on_table.ino @@ -13,30 +13,7 @@ along with this program. If not, see . */ -// define which pins are connected to which components -// blue wire -int right_motor_forward_pin = 3; -// orange wire -int right_motor_backward_pin = 4; -// white wire -int right_motor_speed_pin = 5; - -// yellow wire -int right_echo_pin = 6; -// blue wire -int right_trigger_pin = 7; - -// blue wire -int left_motor_forward_pin = 8; -// orange wire -int left_motor_backward_pin = 9; -// white wire -int left_motor_speed_pin = 10; - -// yellow wire -int left_echo_pin = 11; -// blue wire -int left_trigger_pin = 12; +#include "bot_map.h" void on(int pin){ digitalWrite(pin, HIGH);} @@ -138,7 +115,7 @@ void loop(){ // 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 = 2000; + 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 = 3200; @@ -146,6 +123,17 @@ void loop(){ 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 = "); -- 2.30.2