1 | /* Runaway Robot
|
---|
2 |
|
---|
3 | Play tag with your robot! With an ultrasonic
|
---|
4 | distance sensor, it's capable of detecting and avoiding
|
---|
5 | obstacles, never bumping into walls again!
|
---|
6 |
|
---|
7 | You'll need to attach an untrasonic range finder to M1.
|
---|
8 |
|
---|
9 | Circuit:
|
---|
10 | * Arduino Robot
|
---|
11 | * US range finder like Maxbotix EZ10, with analog output
|
---|
12 |
|
---|
13 | created 1 May 2013
|
---|
14 | by X. Yang
|
---|
15 | modified 12 May 2013
|
---|
16 | by D. Cuartielles
|
---|
17 |
|
---|
18 | This example is in the public domain
|
---|
19 | */
|
---|
20 |
|
---|
21 | // include the robot library
|
---|
22 | #include <ArduinoRobot.h>
|
---|
23 | #include <Wire.h>
|
---|
24 | #include <SPI.h>
|
---|
25 |
|
---|
26 | int sensorPin = M1; // pin is used by the sensor
|
---|
27 |
|
---|
28 | void setup() {
|
---|
29 | // initialize the Robot, SD card, and display
|
---|
30 | Serial.begin(9600);
|
---|
31 | Robot.begin();
|
---|
32 | Robot.beginTFT();
|
---|
33 | Robot.beginSD();
|
---|
34 | Robot.displayLogos();
|
---|
35 |
|
---|
36 | // draw a face on the LCD screen
|
---|
37 | setFace(true);
|
---|
38 | }
|
---|
39 |
|
---|
40 | void loop() {
|
---|
41 | // If the robot is blocked, turn until free
|
---|
42 | while (getDistance() < 40) { // If an obstacle is less than 20cm away
|
---|
43 | setFace(false); //shows an unhappy face
|
---|
44 | Robot.motorsStop(); // stop the motors
|
---|
45 | delay(1000); // wait for a moment
|
---|
46 | Robot.turn(90); // turn to the right and try again
|
---|
47 | setFace(true); // happy face
|
---|
48 | }
|
---|
49 | // if there are no objects in the way, keep moving
|
---|
50 | Robot.motorsWrite(255, 255);
|
---|
51 | delay(100);
|
---|
52 | }
|
---|
53 |
|
---|
54 | // return the distance in cm
|
---|
55 | float getDistance() {
|
---|
56 | // read the value from the sensor
|
---|
57 | int sensorValue = Robot.analogRead(sensorPin);
|
---|
58 | //Convert the sensor input to cm.
|
---|
59 | float distance_cm = sensorValue * 1.27;
|
---|
60 | return distance_cm;
|
---|
61 | }
|
---|
62 |
|
---|
63 | // make a happy or sad face
|
---|
64 | void setFace(boolean onOff) {
|
---|
65 | if (onOff) {
|
---|
66 | // if true show a happy face
|
---|
67 | Robot.background(0, 0, 255);
|
---|
68 | Robot.setCursor(44, 60);
|
---|
69 | Robot.stroke(0, 255, 0);
|
---|
70 | Robot.setTextSize(4);
|
---|
71 | Robot.print(":)");
|
---|
72 | } else {
|
---|
73 | // if false show an upset face
|
---|
74 | Robot.background(255, 0, 0);
|
---|
75 | Robot.setCursor(44, 60);
|
---|
76 | Robot.stroke(0, 255, 0);
|
---|
77 | Robot.setTextSize(4);
|
---|
78 | Robot.print("X(");
|
---|
79 | }
|
---|
80 | }
|
---|