1 | /* Robot Compass
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2 |
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3 | The robot has an on-board compass module, with
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4 | which it can tell the direction the robot is
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5 | facing. This sketch will make sure the robot
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6 | goes towards a certain direction.
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7 |
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8 | Beware, magnets will interfere with the compass
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9 | readings.
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10 |
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11 | Circuit:
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12 | * Arduino Robot
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13 |
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14 | created 1 May 2013
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15 | by X. Yang
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16 | modified 12 May 2013
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17 | by D. Cuartielles
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18 |
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19 | This example is in the public domain
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20 | */
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21 |
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22 | // include the robot library
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23 | #include <ArduinoRobot.h>
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24 | #include <Wire.h>
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25 | #include <SPI.h>
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26 |
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27 | int speedLeft;
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28 | int speedRight;
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29 | int compassValue;
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30 | int direc = 180; //Direction the robot is heading
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31 |
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32 | void setup() {
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33 | // initialize the modules
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34 | Robot.begin();
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35 | Robot.beginTFT();
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36 | Robot.beginSD();
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37 | Robot.displayLogos();
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38 | }
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39 |
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40 | void loop() {
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41 | // read the compass orientation
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42 | compassValue = Robot.compassRead();
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43 |
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44 | // how many degrees are we off
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45 | int diff = compassValue - direc;
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46 |
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47 | // modify degress
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48 | if (diff > 180)
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49 | diff = -360 + diff;
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50 | else if (diff < -180)
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51 | diff = 360 + diff;
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52 |
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53 | // Make the robot turn to its proper orientation
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54 | diff = map(diff, -180, 180, -255, 255);
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55 |
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56 | if (diff > 0) {
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57 | // keep the right wheel spinning,
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58 | // change the speed of the left wheel
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59 | speedLeft = 255 - diff;
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60 | speedRight = 255;
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61 | } else {
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62 | // keep the right left spinning,
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63 | // change the speed of the left wheel
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64 | speedLeft = 255;
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65 | speedRight = 255 + diff;
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66 | }
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67 | // write out to the motors
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68 | Robot.motorsWrite(speedLeft, speedRight);
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69 |
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70 | // draw the orientation on the screen
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71 | Robot.drawCompass(compassValue);
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72 | }
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