--- /dev/null
+// 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 <http://www.gnu.org/licenses/>.
+ */
--- /dev/null
+// 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 <http://www.gnu.org/licenses/>.
+ */
-/*
- 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 <http://www.gnu.org/licenses/>.
- */
-
-// 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);}
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;
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 <http://www.gnu.org/licenses/>.
+ */
--- /dev/null
+// 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 <http://www.gnu.org/licenses/>.
+ */
--- /dev/null
+// 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 <http://www.gnu.org/licenses/>.
+ */
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
-// 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);}
// 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;
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 = ");