ehmmmm :-X
hai ragione.
faccio prima si indubbiamente.
Posto qui sotto il codice del primo walker che ho prodotto insieme a Martino e Vanni:
#include <Servo.h>
// words for clarity
#define LEFT 1
#define RIGHT 2
#define LEDBICOLOR 0
#define LEDTRICOLOR 1
// parameters
#define BUMPS_TO_STOP 5 // number of obstacles to stop after
#define RANDOM_START_SECONDS 120 // mean time in seconds for random start
#define RANDOM_SOUND_SECONDS 30 // mean time in seconds for random sound
#define RANDOM_STEER_SECONDS 3 // mean time in seconds for random steering
#define BACKWARD_MSECONDS 800 // time to go back after hitting an obstacle in milliseconds
#define ROTATION_MSECONDS 500 // duration of the rotation in milliseconds
#define STEER_MSECONDS 1000 // duration of the random steering
#define SPEED 100 // speed to go
#define STEER_PERCENT 3 // percent of SPEED to set one of the servos to steer
#define SNDMEAN 150 // number of samples to mean
// digital pins
#define ledPin1 2 // LED 0 red
#define ledPin2 3 // LED 0 green
#define ledPin3 4 // LED 1 blue
#define ledPin4 5 // LED 1 green
#define ledPin5 6 // LED sensor
#define winkerPin1 7 // winker LEFT
#define winkerPin2 8 // winker RIGHT
#define servoPin1 9 // servo LEFT
#define servoPin2 10 // servo RIGHT
#define outSndPin 11 // speaker
#define ledPin6 12 // LED sensor
// analog pins
#define inSndPin 5 // sound sensor
// variables
float actualSpeed = 0.0; // percent of actual moving speed we are accelerating to
boolean moving = false; // stopped or moving
int speedLeft = 0; // speed we want on left servo
int speedRight = 0; // speed we want on right servo
Servo left;
Servo right;
int contact = 0; // did we hit? where?
int contactCount = 0; // number of hits since start
int contactStep = 0; // part of the hit manouver we are in
long contactTime = 0; // time of hitting
boolean steering = false; // steering or going straight
boolean lightCheck = true;
long lightTime = 0; // time of last light check
long startTime = 0; // time of last random start
long steerTime = 0; // time of last random steering change
long soundTime = 0; // time of last random sound
int meanSnd[SNDMEAN]; // past values of sound sensor
long meanSndCount = 0; // number of values stored
// setup
void setup() {
pinMode(ledPin1, OUTPUT);
pinMode(ledPin2, OUTPUT);
pinMode(ledPin3, OUTPUT);
pinMode(ledPin4, OUTPUT);
pinMode(ledPin6, OUTPUT);
pinMode(winkerPin1, INPUT);
pinMode(winkerPin2, INPUT);
left.attach(servoPin1);
right.attach(servoPin2);
pinMode(outSndPin, OUTPUT);
randomSeed(analogRead(0));
digitalWrite(ledPin6, LOW);
Serial.begin(9600);
}
// winkers
int checkContact() {
if(digitalRead(winkerPin1) == LOW)
return LEFT;
if(digitalRead(winkerPin2) == LOW)
return RIGHT;
return 0;
}
// servo
void servoContinue() {
if(moving) {
if((actualSpeed < 1)) {
actualSpeed += 0.009;
}
if(steering && (steerTime < millis() - STEER_MSECONDS)) {
speedLeft = speedRight = max(speedLeft, speedRight);
steering = false;
steerTime = millis();
}
}
servoSpeed(LEFT, round(speedLeft * actualSpeed));
servoSpeed(RIGHT, round(speedRight * actualSpeed));
}
void servoGo(int speed) {
if(speed < 0) {
setLed(LEDBICOLOR, 1);
}
else {
setLed(LEDBICOLOR, 0);
}
speedLeft = speedRight = speed;
servoReset();
}
void servoReset() {
actualSpeed = 0;
servoContinue();
}
void servoRotate(int side) {
setLed(LEDBICOLOR, 2);
switch(side) {
case LEFT:
speedLeft = 40;
speedRight = -40;
break;
case RIGHT:
speedLeft = -40;
speedRight = 40;
break;
}
servoReset();
}
void servoSpeed(int side, int speed) {
speed = speed * 90 / 100;
switch(side) {
case LEFT:
left.write(90 + speed);
break;
case RIGHT:
right.write(90 - speed);
break;
}
}
void servoSteer(int side) {
steering = true;
steerTime = millis();
switch(side) {
case LEFT:
speedLeft = round(speedLeft * STEER_PERCENT / 100.0);
break;
case RIGHT:
speedRight = round(speedRight * STEER_PERCENT / 100.0);
break;
}
}
// LED
void setLed(int led, int state) {
switch(led) {
case LEDBICOLOR:
switch(state) {
case 0:
digitalWrite(ledPin1, LOW);
digitalWrite(ledPin2, LOW);
break;
case 1:
digitalWrite(ledPin1, HIGH);
digitalWrite(ledPin2, LOW);
break;
case 2:
digitalWrite(ledPin1, LOW);
digitalWrite(ledPin2, HIGH);
break;
}
break;
case LEDTRICOLOR:
switch(state) {
case 0:
digitalWrite(ledPin3, LOW);
digitalWrite(ledPin4, LOW);
break;
case 1:
digitalWrite(ledPin3, LOW);
digitalWrite(ledPin4, HIGH);
break;
case 2:
digitalWrite(ledPin3, HIGH);
digitalWrite(ledPin4, HIGH);
break;
}
}
}
// sound
void sndPlay(int sound) {
switch(sound) {
case 0: // sound when hitting an obstacle
sndTone(1275);
sndTone(1915);
sndTone(2000);
break;
case 1: // sound when starting
sndTone(2100);
sndTone(1500);
sndTone(1200);
break;
case 2: // random sound
for(int i = 0; i < 3; i++)
sndTone(random(1200, 3000));
break;
}
}
void sndTone(int tone) {
for(long i = 0; i < 80000; i += tone * 2) {
digitalWrite(outSndPin, HIGH);
delayMicroseconds(tone);
digitalWrite(outSndPin, LOW);
delayMicroseconds(tone);
}
}
// movement
void start() {
contactCount = 0;
steerTime = soundTime = millis();
moving = true;
servoGo(SPEED);
sndPlay(1);
setLed(LEDTRICOLOR, 2);
}
void stop() {
startTime = millis();
meanSndCount = 0;
moving = false;
servoGo(0);
setLed(LEDTRICOLOR, 0);
}
void hit() {
contactCount++;
servoGo(-SPEED);
sndPlay(0);
}
// time
long randomTime(long since, long about) {
return since - (millis() - round(about * random(5, 15) / 10));
}
// main loop
void loop() {
if(! moving) {
if(lightTime < millis() - 1000) {
lightTime = millis();
long light = 0;
for(int i = 0; i < 3; i++) {
pinMode(ledPin5, OUTPUT);
digitalWrite(ledPin5, HIGH);
pinMode(ledPin5, INPUT);
digitalWrite(ledPin5, LOW);
for(; light < 90000; light++)
if(digitalRead(ledPin5) == 0)
break;
}
lightCheck = light < 10000;
Serial.println(light);
if(lightCheck)
setLed(LEDBICOLOR, 2);
else
setLed(LEDBICOLOR, 1);
}
if(lightCheck && randomTime(startTime, RANDOM_START_SECONDS * 1000L) < 0)
start();
}
else if(contactStep == 0) {
if(randomTime(soundTime, RANDOM_SOUND_SECONDS * 1000L) < 0) {
soundTime = millis();
sndPlay(2);
}
// check number of hits
int remaining = BUMPS_TO_STOP - contactCount;
if(remaining == 0)
stop(); // too many hits, stop ;)
else if(remaining == 1)
setLed(LEDTRICOLOR, 1); // turn off one led, we are going to stop next hit
}
if(! moving) {
// sound sensor to start
int snd = analogRead(inSndPin);
meanSnd[meanSndCount++ % SNDMEAN] = snd;
if(meanSndCount >= SNDMEAN) {
float mean = 0;
for(int i = 0; i < SNDMEAN; i++)
mean += meanSnd[i];
mean /= SNDMEAN;
if(lightCheck && (snd < round(mean) - 1))
start(); // sound activated start
}
}
else {
// moving and hitting obstacles
switch(contactStep) {
case 0: // moving straight
contact = checkContact();
if(contact != 0) {
contactStep = 1;
contactTime = millis();
hit();
}
else {
if((! steering) && (randomTime(steerTime, RANDOM_STEER_SECONDS * 1000L) < 0))
servoSteer(random(LEFT, RIGHT + 1));
}
break;
case 1: // moving backwards after hit
if(contactTime < millis() - BACKWARD_MSECONDS) {
contactStep = 2;
servoRotate(contact);
}
break;
case 2: // rotating after moving backwards
if(contactTime < millis() - (BACKWARD_MSECONDS + ROTATION_MSECONDS + random(0, 200))) {
steerTime = millis();
contactStep = 0;
servoGo(SPEED);
}
}
}
// go on accelerating
servoContinue();
}
Ringrazio di nuovo Martino DiFilippo per il C e l'ingegneria software.
), il robot dovrà entrare in void start e ricercare una zona dove light=goodlight , in questo caso se light > di goodlight ricontrolli se temp>goodtemp in quel caso void start.