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1  Using Arduino / Project Guidance / Re: 2WD robot code on: December 09, 2012, 10:28:07 pm
2 words!! REMOTE CONTROL
2  Using Arduino / Project Guidance / Re: 2WD robot code on: December 09, 2012, 09:59:52 pm
Check this post i have it working with a ping sensor for object avoidance, a piezo for sounds, a robot has to make sounds smiley-grin, and 2 motors. i use a uno r3 and a
motorsheild r3 same as yours. just trying to get a led to light when the piezo beeps. robot has to have blinky lights also. smiley-grin http://arduino.cc/forum/index.php/topic,115743.0.html
3  Using Arduino / Project Guidance / Re: Making Robot Beep When Object Detected? on: December 09, 2012, 09:54:18 pm
I am using your code also with some modifications for 2 drive wheels and a ping)) with a piezo buzzer on detection. usina a uno r3 thruhole a r3 motorshield, an a magician chassis from sparkfun. Here is the modded code. please help me toggle a led on when the piezo sounds.
Code:
// this constant won't change.  It's the pin number
// of the sensor's output:
const int pingPin = 6;
const int piezoPin = 5;

void setup() {
 

 
  //establish motor direction toggle pins
  pinMode(12, OUTPUT); //drive motor A -- HIGH = forwards and LOW = backwards
  pinMode(13, OUTPUT); //drive motor B -- HIGH = forwards and LOW = backwards
 
  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) the drive A motor
  pinMode(8, OUTPUT); //brake (disable) the drive B motor

  //Turns brake off for drive A motor
  digitalWrite(9, LOW);

  //Turns brake off for drive B motor
  digitalWrite(8, LOW);

  //Sets initial speed of drive 1 motor
  analogWrite(3, 255);
 
  //Sets initial speed of drive 2 motor
  analogWrite(11, 255);
 
  //Sets initial direction of drive motor 1
  digitalWrite(12, LOW);
 
  //Sets initial direction of drive motor 2
  digitalWrite(13, LOW);
}

void loop()
{
  // establish variables for duration of the ping,
  // and the distance result in inches and centimeters:
  long duration, inches, cm;

  // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);

  // The same pin is used to read the signal from the PING))): a HIGH
  // pulse whose duration is the time (in microseconds) from the sending
  // of the ping to the reception of its echo off of an object.
  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);

  // convert the time into a distance
  inches = microsecondsToInches(duration);

  //
  //if objects are less than 12 inches away
  //the robot reverses and turns to the right
  //for 2 seconds
  //
 
  if (inches < 12){
   
   
    //make a beep for indication of wall
   
    tone(piezoPin,2000,500);
   
    //brake drive motors 1 and 2 and pause 1/10 second
    digitalWrite(8, HIGH);
    digitalWrite(9, HIGH);
    delay(100);

    //
    //setting turn routine
    //
   
    //turn off brake for drive 1 and 2 motor
    digitalWrite(8, LOW);
    digitalWrite(9, LOW);
    //set drive 1 and 2 motor direction
    digitalWrite(12, LOW);
    digitalWrite(13, HIGH);

    //activate drive 1 and 2 motor
    analogWrite(3, 200);
    analogWrite(11, 200);
   
   //backup for 2 seconds
    delay(800);
   
    //
    //stopping
    //
   
    //brake both motors
    digitalWrite(9, HIGH);
    digitalWrite(8, HIGH);
   
   
  }
 
  //
  //when nothing is within 12"
  //the robot simply drives forwards
  //
 
  else{
   
    //
    //Setting drive motor
    //
   
    //set drive motor 1 forward direction
    digitalWrite(12, LOW);
   
    //set drive motor 2 forward direction
    digitalWrite(13, LOW);
   
    //turn off brake of drive motor1
    digitalWrite(9, LOW);   
   
    //turn off brake to drive motor 2
    digitalWrite(8, LOW);
   
    //activate drive motor 1
    analogWrite(3, 200);
 
    //activate drive motor 2
    analogWrite(11, 255);
 
  }
 
  delay(100);
}

long microsecondsToInches(long microseconds)
{
  // According to Parallax's datasheet for the PING))), there are
  // 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
  // second).  This gives the distance travelled by the ping, outbound
  // and return, so we divide by 2 to get the distance of the obstacle.
  // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
  return microseconds / 74 / 2;
}

the mismatched pwm settins are there to make it drive straight forward.
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