Mystery Code

system · October 24, 2013, 2:39am

#include <Servo.h>

Servo myservo1, myservo2, myservo3;

unsigned long trun1=1350;
unsigned long trun2=425;
unsigned long tback1=1350;
unsigned long tback2=425;
unsigned long tturn1=900;
unsigned long tturn2=735;
unsigned long trest=100;
unsigned long tclose=100;
unsigned long topen=100;
unsigned long treset=100;

int leftwheel=11;
int rightwheel=10;
int claw=9;
void setup()
{
myservo1.attach(leftwheel);
myservo2.attach(rightwheel);
pinMode(leftwheel, OUTPUT);
pinMode(rightwheel, OUTPUT);
myservo3.attach(claw);
pinMode(claw,OUTPUT);
}
void armreset(unsigned long tym)
{
unsigned long tnow=millis();
while (millis()-tnow <= tym)
{
myservo3.write(0);
}
}
void armclose(unsigned long tym)
{
unsigned long tnow=millis();
while (millis()-tnow <= tym)
{
myservo3.write(180);
delay(750);
}
}
void armopen(unsigned long tym)
{
unsigned long tnow=millis();
while (millis()-tnow <= tym)
{
myservo3.write(0);
delay(500);
}
}
void forward(unsigned long tym)
{
unsigned long tnow=millis();
while (millis()-tnow <= tym)
{
myservo1.writeMicroseconds(1700);
myservo2.writeMicroseconds(1300);
}
}
void turn1(unsigned long tturn)
{
unsigned long next=millis();

while (millis()-next <=tturn1)
{
myservo2.writeMicroseconds(1300);
}
}
void turn2(unsigned long tturn)
{
unsigned long next=millis();

while (millis()-next <=tturn2)
{
myservo2.writeMicroseconds(1700);
}
}

void rest(unsigned long tym)
{
unsigned long tnow;
tnow=millis();
while (millis() - tnow <= tym)
{
myservo1.writeMicroseconds(1500);
myservo2.writeMicroseconds(1500);

}

}
void back(unsigned long tym)
{
unsigned long tnow=millis();
while (millis()-tnow <= tym)
{
myservo1.writeMicroseconds(1300);
myservo2.writeMicroseconds(1700);
}
}
void block()
{
while(millis() > 1)
{

}
}
void loop()
{
armreset(treset);
rest(trest);
forward(trun1);
rest(trest);
armclose(tclose);
rest(trest);
turn1(tturn1);
rest(trest);
forward(trun2);
rest(trest);
armopen(topen);
rest(trest);
back(tback2);
rest(trest);
turn2(tturn2);
rest(trest);
back(tback1);
rest(trest);
block();
}

system · November 26, 2013, 2:16am

///Basic line tracker.

#include <Servo.h> // call the Arduino servo library

Servo leftWheel; //Create an object for the left motor of type "servo"
Servo rightWheel; //Create an object for the right motor of type "servo"
Servo gripper; //Create an object for the standard servo


int leftlite = A2;  //Pin used for the left phototransistor
int rightlite = A1; //Pin used for the right phototransistor
int bumppin = 6;  //pin used to light up the big LED
int led=8; // pin used for the LED that flashes at 18 inches
float sa=0; //storage variable a
float sb=0; //storage variable b
float litediff=0; //a variable for light difference
float leftliteval; //a variable for the left light phototransistor
float rightliteval; //a variable for the right phototransistor
int sensorPin = A3;
float dist = 0;
float s = 0;


void setup()
{
  leftWheel.attach(12); //syntax for assigning object "leftWheel" to pin 7
  rightWheel.attach(11); //Syntax for assigning object "rightWheel" to pin 4
  gripper.attach(9); //Syntax for assigning the standard servo to pin 8
  pinMode(bumppin,INPUT); // Assigning the biglight to be a digital output
  //gripper.attach(9);
  Serial.begin(9600); // COM speed setup for serial monitor
  pinMode(led,OUTPUT);
}


  float flipflopL()
  {
  sa = 0; 
  for(int i = 1; i <= 25; i++) 
  {
    leftliteval = analogRead(leftlite);
   sa = sa + leftliteval;
  }
  leftliteval  = (sa/(1023*5));
return leftliteval;  
}
  
  
  float flipflopR() 
  {
  sb = 0;
  for(int i = 1; i <= 25; i++) 
  {
    rightliteval = analogRead(rightlite);
    
    sb = sb + rightliteval; 
  }
  rightliteval = (sb/(1023*5));
return   rightliteval;
}

void Blink()
{ 
 digitalWrite(led,HIGH);
 delay(500);
 digitalWrite(led,LOW);
 delay(1);

}

void Linetrack()
{
  leftliteval  = flipflopL();//convert to voltage
  rightliteval = flipflopR();  // compute equivalent voltage
  litediff=leftliteval-rightliteval; // Take the difference of the left and right phototransistors
  Serial.print(leftliteval,4); //print the value of the left PT to the serial monitor
  Serial.print("  "); //add a space
  Serial.print(rightliteval,4);  //Print value of right PT
  Serial.print(" "); //add a space
  Serial.println(litediff,4); // display the difference between the two PT
  if (litediff >= 1)//for my set up when the right PT was on black I got a difference of about .080 volts so I picked .06 to be safe will need to tweak in the future
    turnRight(1); //turn right if the right PT is on black
  else if (litediff <=  -2) //I got a value of 0.030 when the left PT was on black so I picked 0.04 this can be tweaked
    turnLeft(1); //turn left if the left PT is on black
  else //otherwise....
    driveForward(1); //go forward
}


void driveForward(float delta)
{
    leftWheel.writeMicroseconds(1700);
    rightWheel.writeMicroseconds(1425);
    delay (delta);
}


void driveBackward(float delta)
{
 leftWheel.writeMicroseconds(1425);
 rightWheel.writeMicroseconds(1700);
 delay(delta);
 
}


void turnLeft(float delta)   
{
    rightWheel.writeMicroseconds(1300);
    leftWheel.writeMicroseconds(1500);
    delay(delta);
}


void turnRight(float delta) 
  {
    leftWheel.writeMicroseconds(1700);
     rightWheel.writeMicroseconds(1500);
    delay(delta);
  }
  
  
void halt(float delta)  // 
{
   leftWheel.writeMicroseconds(1500);
   rightWheel.writeMicroseconds(1500);
   delay(delta);
}


boolean bumpstate()
{
 return digitalRead(bumppin);
}


float getdist() 
{                                // repeatedly do the following:
  s = 0;  // initialize accumulator
  for(int i = 1; i <= 200; i++)  // get the sum of 50 samples
  {
  s = s + analogRead(sensorPin);  //get bit-equivalent voltage value from input pin
  }
  s=s/200;
  s = (s/1023)*5;          // compute equivalent voltage
  dist = pow(s, -1.154) * 11.44;
Serial.println(dist);
return dist;
}


void block()
{
  while(1)
  {
    halt(1);
  }
}

void start()
{
  gripper.write(60);
}
 void END()
 {
  while(millis() > 1)
  {

  }
 }
void grasp()
{
 gripper.write(0);
delay(500);
}


void relinquish()
{
 gripper.write(60);
 delay(1000);
 grasp();
}


void forwardTrackDist(int delta)
{
  while(bumpstate()==LOW  && getdist() > delta)
  {
    Linetrack();
    
  }
  halt(1);
}

void forwardBump()
{
  while(bumpstate()==LOW)
  {
    driveForward(1);
   
  }
  halt(1);
}


void loop()
{
  start();
  forwardBump();
  grasp();
  driveBackward(900);  
  turnLeft(600);// about 85 degrees
  forwardTrackDist(4.2);    //is this distance right?
  relinquish();
  driveBackward(550);       //dont like hard numbers
  turnLeft(1500);            //dont like hard numbers
  driveForward(600);
  forwardTrackDist(6.2);//4.2 set as distance
  Blink();
  forwardTrackDist(4.2);
  driveBackward(1500);  // change time
  turnLeft(2300);  //90 degrees
  driveForward(2500);
  halt(99999);

Moderator edit:
 [code] 

 [/code] 
tags added.

system · November 26, 2013, 2:21am

///Basic line tracker.

#include <Servo.h> // call the Arduino servo library

Servo leftWheel; //Create an object for the left motor of type "servo"
Servo rightWheel; //Create an object for the right motor of type "servo"
Servo gripper; //Create an object for the standard servo

int leftlite = A2; //Pin used for the left phototransistor
int rightlite = A1; //Pin used for the right phototransistor
int bumppin = 6; //pin used to light up the big LED
int led=8; // pin used for the LED that flashes at 18 inches
float sa=0; //storage variable a
float sb=0; //storage variable b
float litediff=0; //a variable for light difference
float leftliteval; //a variable for the left light phototransistor
float rightliteval; //a variable for the right phototransistor
int sensorPin = A3;
float dist = 0;
float s = 0;

void setup()
{
leftWheel.attach(12); //syntax for assigning object "leftWheel" to pin 7
rightWheel.attach(11); //Syntax for assigning object "rightWheel" to pin 4
gripper.attach(9); //Syntax for assigning the standard servo to pin 8
pinMode(bumppin,INPUT); // Assigning the biglight to be a digital output
//gripper.attach(9);
Serial.begin(9600); // COM speed setup for serial monitor
pinMode(led,OUTPUT);
}

float flipflopL()
{
sa = 0;
for(int i = 1; i <= 25; i++)
{
leftliteval = analogRead(leftlite);
sa = sa + leftliteval;
}
leftliteval = (sa/(1023*5));
return leftliteval;
}

float flipflopR()
{
sb = 0;
for(int i = 1; i <= 25; i++)
{
rightliteval = analogRead(rightlite);

sb = sb + rightliteval;
}
rightliteval = (sb/(1023*5));
return rightliteval;
}

void Blink()
{
digitalWrite(led,HIGH);
delay(500);
digitalWrite(led,LOW);
delay(1);

}

void Linetrack()
{
leftliteval = flipflopL();//convert to voltage
rightliteval = flipflopR(); // compute equivalent voltage
litediff=leftliteval-rightliteval; // Take the difference of the left and right phototransistors
Serial.print(leftliteval,4); //print the value of the left PT to the serial monitor
Serial.print(" "); //add a space
Serial.print(rightliteval,4); //Print value of right PT
Serial.print(" "); //add a space
Serial.println(litediff,4); // display the difference between the two PT
if (litediff >= 1)//for my set up when the right PT was on black I got a difference of about .080 volts so I picked .06 to be safe will need to tweak in the future
turnRight(1); //turn right if the right PT is on black
else if (litediff <= -2) //I got a value of 0.030 when the left PT was on black so I picked 0.04 this can be tweaked
turnLeft(1); //turn left if the left PT is on black
else //otherwise....
driveForward(1); //go forward
}

void driveForward(float delta)
{
leftWheel.writeMicroseconds(1700);
rightWheel.writeMicroseconds(1425);
delay (delta);
}

void driveBackward(float delta)
{
leftWheel.writeMicroseconds(1425);
rightWheel.writeMicroseconds(1700);
delay(delta);

}

void turnLeft(float delta)
{
rightWheel.writeMicroseconds(1300);
leftWheel.writeMicroseconds(1500);
delay(delta);
}

void turnRight(float delta)
{
leftWheel.writeMicroseconds(1700);
rightWheel.writeMicroseconds(1500);
delay(delta);
}

void halt(float delta) //
{
leftWheel.writeMicroseconds(1500);
rightWheel.writeMicroseconds(1500);
delay(delta);
}

boolean bumpstate()
{
return digitalRead(bumppin);
}

float getdist()
{ // repeatedly do the following:
s = 0; // initialize accumulator
for(int i = 1; i <= 200; i++) // get the sum of 50 samples
{
s = s + analogRead(sensorPin); //get bit-equivalent voltage value from input pin
}
s=s/200;
s = (s/1023)*5; // compute equivalent voltage
dist = pow(s, -1.154) * 11.44;
Serial.println(dist);
return dist;
}

void block()
{
while(1)
{
halt(1);
}
}

void start()
{
gripper.write(60);
}
void END()
{
while(millis() > 1)
{

}
}
void grasp()
{
gripper.write(0);
delay(500);
}

void relinquish()
{
gripper.write(60);
delay(1000);
grasp();
}

void forwardTrackDist(int delta)
{
while(bumpstate()==LOW && getdist() > delta)
{
Linetrack();

}
halt(1);
}

void forwardBump()
{
while(bumpstate()==LOW)
{
driveForward(1);

}
halt(1);
}

void loop()
{
start();
forwardBump();
grasp();
driveBackward(900);
turnLeft(600);// about 85 degrees
forwardTrackDist(4.2); //is this distance right?
relinquish();
driveBackward(550); //dont like hard numbers
turnLeft(1500); //dont like hard numbers
driveForward(600);
forwardTrackDist(6.2);//4.2 set as distance
Blink();
forwardTrackDist(4.2);
driveBackward(1500); // change time
turnLeft(2300); //90 degrees
driveForward(2500);
halt(99999);

Coding_Badly · November 27, 2013, 8:02pm

@dougcastellano...

Do not cross-post again.

Please do not use copy-for-forum.

Please use
 [code] 

 [/code] 
tags when posting code.

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