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four_in_one_demo_mod_fix_v0.5.ino
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four_in_one_demo_mod_fix_v0.5.ino
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//There id more information aboat this code in Page 26 of "Instruction manual-English.pdf"
// This code is for the bluetooth and infrared controlled ultrasonic arduino car.
// By default, the buttons 2, 4, 6 en 8 of the remote will move the car in infrared mode.
// Ultrasonic mode is enabled by the play/pause button.
// Track following is enabled by the EQ button.
// Button 5 will stop whatever the car is doing and enable button 2, 4, 6 en 8 again.
// Bluetooth is always enabled and available while in infrared mode. The password is 1234.
//
// Android car control app can be found here:
// https://play.google.com/store/apps/details?id=braulio.calle.bluetoothRCcontroller&hl=en
//Code based on code found at icstation.com and banggood.com (same sources)
//Modifications
// Continuous movement possible with both bluetooth and ir control
// Customization of servo angles
// Moved up all constants that might need customization
// Added simular code in functions, reducing code lines and complexity
// Broken down long functions in smaller ones to reduce complexity
// Removed unused signals
// Reduced global variables by creating local variables
//********Include libraries*********************************************
/**
FIX NOTE:
This source code can be downloaded from http://smartmecard.wordpress.com.
This original source code is from https://forum.arduino.cc/index.php?topic=312570.msg2166317#msg2166317
This source code was fixed by kino21c@gmail.com. If you have questions, leave your comments on http://smartmecard.wordpress.com
If you want to see demo animation, please access below
1) Avoiding obstacles : https://youtu.be/lRprGMqcNWU
2) Black line tracking : https://youtu.be/ExaqOe6Te0c
3) How To Make Smart Robot Car With Arduino Uno R3 (IR RC + Bluetooth RC + Obstacle Avoidance + Line Tracking):
https://youtu.be/G-Q8FEqmgZU
1. Version
1) V0.1
Initial version
Have a good day with your child. :)
2) V0.2
- Added configuration depending on arduino uno board connection
- Fixed black line tracking
- Added function description
3) V0.3
- Removed unused codes
- Added configuration and library
- Fixed infrared command and bluetooth command
4) V0.4
- Added and fixed obstacle avoidance seneor(KY-032)
- Added CONFIG_OBSTACLE_AVOIDANCE_SENSOR and CONFIG_OBASTACLE_AVOIDANCE_SENSOR_ANALOG
- Changed small codes
5) V0.5
- Added HC-06 bluetooth configuration writing test code
- Fixed speed control and update
- Fixed bluetooth command control bug
- Added M2839 DC MOTOR control for my tank.
- OBSTACLE_AVOIDANCE_DISTANCE_THRESHOLD value is changed regarding my board.
But this value can be changed depending on your board
- Fixed automatic obstacle avoidance
- Added HC06_bluetooth_config.ino code for changing HC-06 bluetooth baud rate from default 9600 to 115200.
2. Library
1) IR REMOTE CONTROL: ARDUINO LIBRARY
https://github.com/z3t0/Arduino-IRremote
2) MsTimer2
http://playground.arduino.cc/Main/MsTimer2
MsTimer2 is a small and very easy to use library to interface Timer2 with humans.
It's called MsTimer2 because it "hardcodes" a resolution of 1 millisecond on timer2.
3. Aruino Bluetooth RC Car Application
1) app link: https://play.google.com/store/apps/details?id=braulio.calle.bluetoothRCcontroller&hl=ko
2) arduino bluetooth example code
https://sites.google.com/site/bluetoothrccar/home/3BluetoothModulesAndArduinoCode
4. Reference
1) IR Reciever
IR Reciever Test Code
https://arduino-info.wikispaces.com/file/view/IR_Remote_Kit_Blink.pde/330174204/IR_Remote_Kit_Blink.pde
https://arduino-info.wikispaces.com/file/view/IR_Remote_Kit_Numeric.pde/330172406/IR_Remote_Kit_Numeric.pde
IR REMOTE CONTROL: ARDUINO LIBRARY
https://github.com/z3t0/Arduino-IRremote
IR Infrared Remote Control Kit 2
http://yourduino.com/sunshop2/index.php?l=product_detail&p=153
2) GY-80 Multi Sensor Board - 3 Axis Gyro -3 Axis Accelerometer - 3 Axis Magnetometer - Barometer - Thermometer
https://github.com/cedtat/GY-80-sensor-samples
3) MPU6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Devices
http://www.invensense.com/products/motion-tracking/6-axis/mpu-6050/
http://playground.arduino.cc/Main/MPU-6050
4) Software Serial Example
https://www.arduino.cc/en/Tutorial/SoftwareSerialExample
5) if "Low memory available, stability problems may occur" is happening during compiling, refer to below
http://www.arduino.cc/en/Tutorial/Memory
6) Arduino AT-09 tutorial : AT-09 BLE
https://github.com/yostane/arduino-at-09
7) HC-05 bluetooth AT command
HC-05 default baud rate is 38400
http://www.linotux.ch/arduino/HC-0305_serial_module_AT_commamd_set_201104_revised.pdf
8) HC-06 bluetooth AT command
HC-06 default baud rate is 9600
http://www.micro4you.com/files/ElecFreaks/Bluetooth%20HC-06.pdf
https://forum.arduino.cc/index.php?topic=200545.0
**/
//************************************************
//* Arduino Uno : Car hardware and test configuration
//************************************************
#define CONFIG_DEBUG // if "Low memory available, stability problems may occur." is happening, don't declare CONFIG_DEBUG
//#define CONFIG_BLUETOOTH_DEBUG //if "Low memory available, stability problems may occur." is happening, don't declare CONFIG_BLUETOOTH_DEBUG
//#define CONFIG_IR_REMOTE_DEBUG //if "Low memory available, stability problems may occur." is happening, don't declare CONFIG_IR_REMOTE_DEBUG
//#define CONFIG_DIRECTION_CNTRL_001
//#define CONFIG_ULTRASONIC_001 //second HC-SR04 Ultrasonic Sensor module
#define CONFIG_BLUETOOTH_CMD //bluetooth control command
//#define CONFIG_INFRARED_CMD //infrared remote control command
#define CONFIG_OBSTACLE_AVOIDANCE_SENSOR //KY-032 obstacle avoidance sensor
//#define CONFIG_OBSTACLE_AVOIDANCE_TEST //KY-032 obstacle avoidance sensor test
//#define CONFIG_OBSTACLE_AVOIDANCE_SENSOR_TEST
#define CONFIG_OBASTACLE_AVOIDANCE_SENSOR_ANALOG
#define CONFIG_BT_SOFTWARE_SERIAL //bluetooth software serial
//#define CONFIG_BLUETOOTH_CONFIG_WRITE_TEST //bluetooth configuration write
//#define CONFIG_BLACK_LINE_TRACKING_TEST //TRCT5000 Line Track Sensor , TRCT5000 Infrarared Reflective IR Photoelectronic Switch Barrier Line Track sensor
//#define CONFIG_SERVO_TEST //SG90 servo motor test
//#define CONFIG_INFRARED_TEST //KY-022 Infrarared IR Sensor Receiver
//#define CONFIG_BLUETOOTH_CMD_TEST //HC-06 Bluetooth serial path-through module command test with android car app
//#define CONFIG_SOUND_SENSOR_TEST //Sensitive Sound Microphone Seneor Detection Module for Arduino AVR PIC
//#define CONFIG_SOUND_SENSOR
#ifdef CONFIG_SOUND_SENSOR
#define CONFIG_SOUND_SENSOR_ANALOG
#endif
/*******************************************
M2839 DC motor
Motor-owned models: RS-385
Operating voltage range: DC: 6-12v
Rated torque: 8kgf.cm
Deceleration ratio: 81: 1
The whole machine weight: 145g / support
"No-load test parameters" Tolerance ¡¾ 10%
Voltage / V No-load current (mA) Speed (min) Stall Current (mA)
------------------------------------------------------------------
6V 140 50 1200
9V 155 75 2000
12V 162 100 2800
*******************************************/
//#define CONFIG_M2839_DC_MOTOR
//#define CONFIG_FORWARD_CONPENSATION
//************************************************
//Library
//************************************************
#include <IRremote.h> //https://github.com/z3t0/Arduino-IRremote
#include <Servo.h>
#include <SoftwareSerial.h>
#if defined(CONFIG_TIMER2) || defined(CONFIG_OBSTACLE_AVOIDANCE_TEST)
#include <MsTimer2.h> //http://playground.arduino.cc/Main/MsTimer2
#endif
//************************************************
//*Arduino Uno : Pin defintion configuration
//************************************************
#define ENA_PIN 6
#define EN1_PIN 7
#define EN2_PIN 3
#define EN3_PIN 4
#define EN4_PIN 2
#define ENB_PIN 5
#define IR_RECIEVER_PIN A5 // ir recieer pin number
#define SERVO_PIN 9 // servo motor pin number
#define ULTRASONIC_TRIG_PIN_000 12 //
#define ULTRASONIC_ECHO_PIN_000 13
#ifdef CONFIG_ULTRASONIC_001
#define ULTRASONIC_TRIG_PIN_001 12
#define ULTRASONIC_ECHO_PIN_001 13
#endif
#ifdef CONFIG_BT_SOFTWARE_SERIAL
/*
Receives from the hardware serial, sends to software serial.
Receives from software serial, sends to hardware serial.
The circuit:
* RX is digital pin 10 (connect to TX of other device)
* TX is digital pin 11 (connect to RX of other device)
Note:
Not all pins on the Mega and Mega 2560 support change interrupts,
so only the following can be used for RX:
10, 11, 12, 13, 50, 51, 52, 53, 62, 63, 64, 65, 66, 67, 68, 69
Not all pins on the Leonardo support change interrupts,
so only the following can be used for RX:
8, 9, 10, 11, 14 (MISO), 15 (SCK), 16 (MOSI).
*/
#define BT_SERIAL_RX 10 //Rx pin
#define BT_SERIAL_TX 11 //Tx pin
#endif
//sensor configuration for Black line tracking
#define TRACKING_SENSOR_LEFT_PIN A0 //tracking sensor left pin
#define TRACKING_SENSOR_MIDDLE_PIN A2 //tracking sensor middle pin
#define TRACKING_SENSOR_RIGHT_PIN A1 //tracking sensor right pin
#if defined(CONFIG_SOUND_SENSOR) || defined(CONFIG_SOUND_SENSOR_TEST)
#define SOUND_SENSOR_PIN A4 //Sound Sensor pin
#endif
#ifdef CONFIG_SOUND_SENSOR_ANALOG
#define SOUND_READ(pinNum) analogRead (pinNum)
#else
#define SOUND_READ(pinNum) digitalRead(pinNum)
#endif
#define OBSTACLE_AVOIDANCE_LEFT_SENSOR_PIN A3 //obstacle avoidance left sensor pin
#define OBSTACLE_AVOIDANCE_RIGHT_SENSOR_PIN A4 //obstacle avoidance right sensor pin
#ifdef CONFIG_OBASTACLE_AVOIDANCE_SENSOR_ANALOG
#define OBSTACLE_SENSOR_READ(pinNum) analogRead (pinNum)
#else
#define OBSTACLE_SENSOR_READ(pinNum) digitalRead(pinNum)
#endif
#define OBSTACLE_AVOIDANCE_DISTANCE_THRESHOLD 150
#define DELAY_UNIT 10 //10 ms
//255 means 5V : speed, range 0 to 255
#define MOTOR_SPEED_MAX 255
//Pin assignments and global variables per function. Customize if needed
//*******Pin assignments Motor board and IR receiver********************
const int MotorRight1 = EN1_PIN; //right1 side motor wheel pin
const int MotorRight2 = EN2_PIN; //right2 side motor wheel pin
const int MotorLeft1 = EN3_PIN; //left1 side motor wheel pin
const int MotorLeft2 = EN4_PIN; //left2 side motor wheel pin
const int MotorRightPWM = ENA_PIN; //right side enable pin
const int MotorLeftPWM = ENB_PIN; //left side enable pin
const int irReceiverPin = IR_RECIEVER_PIN; //ir reciever pin
const int servoPin = SERVO_PIN; //servo motor pin
int iSpeed = MOTOR_SPEED_MAX; //speed, range 0 to 255
//******Track following pin assignments and signals**********************
const int SensorLeft = TRACKING_SENSOR_LEFT_PIN;
const int SensorMiddle = TRACKING_SENSOR_MIDDLE_PIN;
const int SensorRight = TRACKING_SENSOR_RIGHT_PIN;
IRrecv irrecv(irReceiverPin); // IRrecv signal
decode_results infrared; // decode result
//*******Ultrasonic pin assignments and signals**************************
Servo ultrasonicservo000; // define ultrasonicservo000
unsigned int degreesForward = 85; //nr degrees to look forward
const int degreesLeft = 25; //nr degrees to look left (85 - 60 )
const int degreesRight = 145; //nr degrees to look right (85 + 60 )
//*****Bluetooth signals**************************************************
char val; //stores received character. Needs to be global to perform continuous movement
//
#ifdef CONFIG_BT_SOFTWARE_SERIAL
SoftwareSerial btSerial(BT_SERIAL_RX, BT_SERIAL_TX);// RX, TX
//#define BT_SOFTWARE_BAUD_RATE 9600
#define BT_SOFTWARE_BAUD_RATE 115200
char ssid[] = "HC06_4WD"; // Name for Bluetooth.
//char ssid[] = "HC06_2WD"; // Name for Bluetooth.
//char ssid[] = "HC06_Tank"; // Name for Bluetooth.
//char ssid[] = "HC06_STank"; // Name for Bluetooth.
//char baudios[] = "4"; // 1=>1200 baudios, 2=>2400, 3=>4800, 4=>9600 (default), 5=>19200, 6=>38400, 7=>57600, 8=>115200
char baudios[] = "8"; // 1=>1200 baudios, 2=>2400, 3=>4800, 4=>9600 (default), 5=>19200, 6=>38400, 7=>57600, 8=>115200
char password[] = "1234"; // Password for pairing
#endif
/*IR Infrared Remote Control Kit 2*/
typedef struct {
String strKeyName;
unsigned long ulKeyValue;
String strCmd;
}IRvalueData;
const IRvalueData irData[] =
{
/*Key KeyValue Cmd */
{ "0", 0x00FF6897, "" },
{ "1", 0x00FF30CF, "", },
{ "2", 0x00FF18E7, "MOVE FORWARD" },
{ "3", 0x00FF7A85, "", },
{ "4", 0x00FF10EF, "MOVE LEFT" },
{ "5", 0x00FF38C7, "STOP" },
{ "6", 0x00FF5AA5, "MOVE RIGHT" },
{ "7", 0x00FF42BD, "" },
{ "8", 0x00FF4AB5, "MOVE BACKWARD" },
{ "9", 0x00FF52AD, "" },
{ "100+", 0x00FF9867, "" },
{ "200+", 0x00FFB04F, "" },
{ "-", 0x00FFE01F, "SPEED DOWN" },
{ "+", 0x00FFA857, "SPEED UP" },
{ "EQ", 0x00FF906F, "BLACK LINE TRACKING" },
{ "<<", 0x00FF22DD, "" },
{ ">>", 0x00FF02FD, "" },
{ ">|", 0x00FFC23D, "AUTOMATIC" },
{ "CH-", 0x00FFA25D, "" },
{ "CH", 0x00FF629D, "" },
{ "CH+", 0x00FFE21D, "" },
{ "HOLD", 0xFFFFFFFF, "BUTTON HOLD DOWN", }
};
typedef struct {
int CurrenMove;
int ForwardDistance;
int RightDistance;
int LeftDistance;
int RightAvoidSensor;
int LeftAvoidSensor;
}stCarInfoData;
#define CAR_INFO_NUM 5
stCarInfoData stCarInfo[CAR_INFO_NUM];
int CarInfoIndex;
// see getDistance()
typedef enum {
ULTRASONIC_000,
ULTRASONIC_001
}ULTRASONIC_INDEX;
//car movement status
typedef enum {
MOVE_INITIAL =0,
MOVE_FORWARD,
MOVE_BACKWARD,
MOVE_BACKWARD_LEFT,
MOVE_BACKWARD_RIGHT,
MOVE_LEFT,
MOVE_RIGHT,
MOVE_ROTATE,
MOVE_LEFT_ROTATE,
MOVE_RIGHT_ROTATE,
MOVE_STOP,
MOVE_SPEED_UP,
MOVE_SPEED_DOWN,
MOVE_END
}CAR_MOVE;
#define TIMER_PERIOD 100 //100 ms
#if defined(CONFIG_TIMER2) || defined(CONFIG_OBSTACLE_AVOIDANCE_TEST)
#define HEAD_ROTATE_TIME 10000 //10,000 ms -> 10ms
#else
#define HEAD_ROTATE_TIME (20000) //experiment value
#endif
static unsigned long ul_timer_count=0;
void isr_timer()
{
ul_timer_count++;
}
unsigned long get_time_count()
{
#if defined(CONFIG_TIMER2) || defined(CONFIG_OBSTACLE_AVOIDANCE_TEST)
return ul_timer_count;
#else
return ul_timer_count++;
#endif
}
unsigned long get_elapse_time_count(unsigned long ul_old_time_count, unsigned long ul_new_time_count)
{
unsigned long ul_elapse_time_count = 0;
if(ul_new_time_count >= ul_old_time_count)
{
ul_elapse_time_count = ul_new_time_count - ul_old_time_count;
}
else
{
ul_elapse_time_count = (0xffffffff - ul_old_time_count) + ul_new_time_count;
}
return ul_elapse_time_count;
}
unsigned long get_elapse_time(unsigned long ul_old_time_count, unsigned long ul_new_time_count)
{
//it returns ms
return get_elapse_time_count(ul_old_time_count,ul_new_time_count)*TIMER_PERIOD;
}
#ifdef CONFIG_SERVO_TEST
/**
* This function is servo motor test function.
* Servo motor is run from 0 degree to 180 degree.
* @param none
* @return none
* @see none
*/
void servo_test(void)
{
int pos = 0;
for (pos = 0; pos <= 180; pos += 1)
{
// goes from 0 degrees to 180 degrees
// in steps of 1 degree
ultrasonicservo000.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1)
{
// goes from 180 degrees to 0 degrees
ultrasonicservo000.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
}
#endif
#ifdef CONFIG_INFRARED_TEST
/**
* This function dumps IR data to be recieved through UART.
*
* @param decode_results *results
* @return none
* @see none
*/
void ir_dump(decode_results *results)
{
int count = results->rawlen;
if (results->decode_type == UNKNOWN)
{
Serial.print("Unknown encoding: ");
}
else if (results->decode_type == NEC)
{
Serial.print("Decoded NEC: ");
}
else if (results->decode_type == SONY)
{
Serial.print("Decoded SONY: ");
}
else if (results->decode_type == RC5)
{
Serial.print("Decoded RC5: ");
}
else if (results->decode_type == RC6)
{
Serial.print("Decoded RC6: ");
}
else if (results->decode_type == PANASONIC)
{
Serial.print("Decoded PANASONIC - Address: ");
Serial.print(" Value: ");
}
else if (results->decode_type == LG)
{
Serial.print("Decoded LG: ");
}
else if (results->decode_type == JVC)
{
Serial.print("Decoded JVC: ");
}
Serial.print(results->value, HEX);
Serial.print(" (");
Serial.print(results->bits, DEC);
Serial.println(" bits)");
Serial.print("Raw (");
Serial.print(count, DEC);
Serial.print("): ");
for (int i = 0; i < count; i++)
{
if ((i % 2))
{
Serial.print(results->rawbuf[i] * USECPERTICK, DEC);
}
else
{
Serial.print((int)results->rawbuf[i] * USECPERTICK, DEC);
}
Serial.print(" ");
}
Serial.println("");
}
/**
* This function is IR usage example function.
*
* @param none
* @return none
* @see none
*/
void ir_test(void)
{
int a;
a = irrecv.decode(&infrared);
Serial.print(a, DEC);
//this is true if a message has been received
if (irrecv.decode(&infrared) == true)
{
if (infrared.bits > 0)
{
ir_dump(&infrared);
}
irrecv.resume(); // watch out for another message
}
else
{
delay(1000); //wait 1000ms
}
}
#endif
#ifdef CONFIG_BLUETOOTH_CONFIG_WRITE_TEST
/**
* This function sends command to bluetooth module
*
* @param char * cmd1 - command
* @param char * cmd2 - sub data command
* @return none
* @see none
*/
void sendBTCommand(char * cmd1, char * cmd2)
{
char reply[100];
int i = 0;
//debugging message
Serial.print("Command send :");
Serial.print(cmd1);
Serial.print(cmd2);
Serial.print("\n");
/*send command
AT
AT+NAMExxxx
AT+BAUDx
AT+PINxxxx
*/
btSerial.print(cmd1);
if(cmd2 != NULL)
{
btSerial.print(cmd2);
}
//wait some time
delay(1000);
//read string is OK
while (btSerial.available())
{
reply[i++] = btSerial.read();
}
//end the string
reply[i] = '\0';
//debugging message
Serial.println(reply);
Serial.println("Reply end");
delay(50);
}
/**
* This function write configuration to bluetooth module
*
* @param none
* @return none
* @see none
*/
void writeBTConfig(void)
{
//set BT baud rate
btSerial.begin(BT_SOFTWARE_BAUD_RATE);
// Now configuration start
sendBTCommand("AT",NULL);
// Change Name of BT: AT+NAMExxx e.g. AT+NAMEHC06
sendBTCommand("AT+NAME",ssid);
// Change Baud : AT+BAUDx e.g. AT+BAUD4
sendBTCommand("AT+BAUD",baudios);
// Change Password : AT+PINxxxx e.g. AT+PIN1234
sendBTCommand("AT+PIN",password);
}
#endif
/**
* This function decodes IR key value into command
*
* @param unsigned long ulKeyValue
* @return command string
* @see none
*/
String decode_IRcmd(unsigned long ulKeyValue)
{
int i = 0;
int table_size;
table_size = sizeof(irData)/sizeof(IRvalueData);
for (i = 0; i < table_size; i++)
{
if (irData[i].ulKeyValue == ulKeyValue)
{
#ifdef CONFIG_IR_REMOTE_DEBUG
Serial.print("\n");
Serial.println(ulKeyValue, HEX);
Serial.print("->"+ irData[i].strKeyName+ ": CMD :" + irData[i].strCmd);
#endif
return irData[i].strCmd;
}
}
//Serial.println("\nUNKNOWN CMD");
return String("UNKNOWN CMD");
}
/**
* This function decodes IR key value into key string
*
* @param unsigned long ulKeyValue
* @return command string
* @see none
*/
String decode_IRkeyname(unsigned long ulKeyValue)
{
int i = 0;
int table_size;
table_size = sizeof(irData)/sizeof(IRvalueData);
for (i = 0; i < table_size; i++)
{
if (irData[i].ulKeyValue == ulKeyValue)
{
#ifdef CONFIG_IR_REMOTE_DEBUG
Serial.print("\n");
Serial.println(ulKeyValue, HEX);
Serial.print("->"+ irData[i].strKeyName+ ": CMD :" + irData[i].strCmd);
#endif
return irData[i].strKeyName;
}
}
//Serial.println("\nUNKNOWN KEY VALUE");
return String("UNKNOWN KEY VALUE");
}
/**
* This function updates speed to PWM.
*
* @param int speed
* @return it returns updated speed value.
* @see none
*/
int update_speed(int speed)
{
if(speed > MOTOR_SPEED_MAX)
{
speed = MOTOR_SPEED_MAX;
}
iSpeed = speed;
analogWrite(MotorRightPWM, iSpeed);
analogWrite(MotorLeftPWM, iSpeed);
return speed;
}
/**
* This function controls arduino wheels of car.
* If this function is run, car goes forward and then wait for d*10 ms.
*
* @param int d - this input unit is 10 ms. e.g. 1 means 10ms.
* @return none
* @see none
*/
void advance(int d)
{
#ifdef CONFIG_DIRECTION_CNTRL_001
//go straight
digitalWrite(MotorRight1, HIGH);
digitalWrite(MotorRight2, LOW);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorLeft1, HIGH);
digitalWrite(MotorLeft2, LOW);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
#else
//go straight
digitalWrite(MotorRight1, LOW);
digitalWrite(MotorRight2, HIGH);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorLeft1, LOW);
digitalWrite(MotorLeft2, HIGH);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
#endif
}
/**
* This function controls arduino wheels of car.
* If this function is run, car turns on the right and then wait for d*10 ms.
* Left wheels go forward. But right wheels does not run.
* @param int d - this input unit is 10 ms. e.g. 1 means 10ms.
* @return none
* @see none
*/
void right(int d)
{
//turn right (single wheel)
digitalWrite(MotorLeft1, LOW);
digitalWrite(MotorLeft2, HIGH);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorRight1, LOW);
digitalWrite(MotorRight2, LOW);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
}
/**
* This function controls arduino wheels of car.
* If this function is run, car turns on the left and then wait for d*10 ms.
* Right wheels go forward. But left wheels does not run.
* @param int d - this input unit is 10 ms. e.g. 1 means 10ms.
* @return none
* @see none
*/
void left(int d)
{
//turn left(single wheel)
digitalWrite(MotorRight1, LOW);
digitalWrite(MotorRight2, HIGH);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorLeft1, LOW);
digitalWrite(MotorLeft2, LOW);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
}
/**
* If this function is run, car turns on the right and then wait for d*10 ms.
* Left wheels go forward and right wheels go backward.
* @param int d - this input unit is 10 ms. e.g. 1 means 10ms.
* @return none
* @see none
*/
void turnR(int d)
{
//turn right (two wheels)
digitalWrite(MotorRight1, HIGH);
digitalWrite(MotorRight2, LOW);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorLeft1, LOW);
digitalWrite(MotorLeft2, HIGH);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
}
/**
* If this function is run, car turns on the left and then wait for d*10 ms.
* Right wheels go forward and left wheels go backward.
* @param int d - this input unit is 10 ms. e.g. 1 means 10ms.
* @return none
* @see none
*/
void turnL(int d)
{
//turn left (two wheels)
digitalWrite(MotorRight1, LOW);
digitalWrite(MotorRight2, HIGH);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorLeft1, HIGH);
digitalWrite(MotorLeft2, LOW);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
}
/**
* If this function is run, car stops and then wait for d*10 ms.
* Both right and left wheels stops.
* @param int d - this input unit is 10 ms. e.g. 1 means 10ms.
* @return none
* @see none
*/
void stopp(int d)
{
//stop
digitalWrite(MotorRight1, LOW);
digitalWrite(MotorRight2, LOW);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorLeft1, LOW);
digitalWrite(MotorLeft2, LOW);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
}
/**
* If this function is run, car goes backward and then wait for d*10 ms.
* Both right and left goes backward.
* @param int d - this input unit is 10 ms. e.g. 1 means 10ms.
* @return none
* @see none
*/
void back(int d)
{
#ifdef CONFIG_DIRECTION_CNTRL_001
//go back
digitalWrite(MotorRight1, LOW);
digitalWrite(MotorRight2, HIGH);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorLeft1, LOW);
digitalWrite(MotorLeft2, HIGH);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
#else
//go back
digitalWrite(MotorRight1, HIGH);
digitalWrite(MotorRight2, LOW);
analogWrite(MotorRightPWM, iSpeed);
digitalWrite(MotorLeft1, HIGH);
digitalWrite(MotorLeft2, LOW);
analogWrite(MotorLeftPWM, iSpeed);
delay(d * DELAY_UNIT);
#endif
}
/**
* This function converts degree servo motor into micro second.
* It can be used with servo motor API writeMicroseconds()
* @param int degree - inuput value range is 0 to 180.
* @return none
* @see ServoWriteMicroseconds.html
*/
int getServoUsec(int degree)
{
return (degree * 1500) / 90;
}
//************Ultrasonic distance calculator*************************************
/**
* This function calulates object distance to be detected by servo motor.
*
* @param int sel_dev - input value is ULTRASONIC_000,ULTRASONIC_001
* @param int degrees - 0 to 180 degree
* @param char dir - direction character. e.g. 'F', 'B' , 'R', 'L'
* @return It returns cm.
* @see none
*/
int getDistance(int sel_dev, int degrees, char dir)
{
float distance;
int triggerPin;
int echoPin;
int delay_time = 250;
int pre_degrees = 0;
switch(sel_dev)
{
#ifdef CONFIG_ULTRASONIC_001
case ULTRASONIC_001: //fixed ultra sonic
triggerPin = ULTRASONIC_TRIG_PIN_001;
echoPin = ULTRASONIC_ECHO_PIN_001;
break;
#endif
// 0 or others
case ULTRASONIC_000: //ultra sonic to be able to be moved by servo motor
default:
//read previous servo motor position
pre_degrees = ultrasonicservo000.read();
// if servo motor was moved, wait for the servo motor to become stable
if(pre_degrees != degrees)
{
// move motor position
ultrasonicservo000.write(degrees);
delay(delay_time);
}
triggerPin = ULTRASONIC_TRIG_PIN_000;
echoPin = ULTRASONIC_ECHO_PIN_000;
break;
}
// ultrasonic echo low level in 2us
digitalWrite(triggerPin, LOW);
delayMicroseconds(2);
// ultrasonic echo high level in 10us, at least 10us
digitalWrite(triggerPin, HIGH);
delayMicroseconds(10);
// ultgrasonic echo low level
digitalWrite(triggerPin, LOW);
// read time
distance = pulseIn(echoPin, HIGH);
/*
speed of sound is 340 m/sec or 29 us / cm
distance = distance / 29 /2 = distance / 5.8/ 10
= distance / 58
*/
distance = distance / 58; // turn time to distance
#ifdef CONFIG_DEBUG
Serial.print(dir); //
Serial.print(int(sel_dev));
if(sel_dev == ULTRASONIC_000)
{
Serial.print((int)ultrasonicservo000.read());
}
Serial.print(" distance: "); //
Serial.print(int(distance)); // output distance (cm)
Serial.print("\n");
#endif
return (int)distance;
}
/**
* This function decides obstacle
*
* @param int pin - pin number
* @return if obstacle, it return 1. Otherwise it return 0.
* @see none
*/
int isObstacle(int pin)
{
int Val;
Val = OBSTACLE_SENSOR_READ(pin);
Serial.print("PIN");
Serial.print(pin);
Serial.print(" : ");
Serial.print(Val);
Serial.print("\n");
#ifdef CONFIG_OBASTACLE_AVOIDANCE_SENSOR_ANALOG
Val = (Val < OBSTACLE_AVOIDANCE_DISTANCE_THRESHOLD) ? 1:0;
#endif
return Val;
}
/**
* This function decides movement direction from sensor data
*
* @param none
* @return It returns CAR_MOVE enum value.
* @see none
*/
static unsigned long ul_old_timer_count = 0;