daily_automated

trunk/Arduino/sketch_pro_LineFollower/StepperControl.ino.txt

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+/*
+Adafruit Arduino - Lesson 16. Stepper
+*/
+ 
+#include <Stepper.h>
+ 
+int in1Pin = 12;
+int in2Pin = 11;
+int in3Pin = 10;
+int in4Pin = 9;
+ 
+Stepper motor(512, in1Pin, in2Pin, in3Pin, in4Pin);  
+ 
+void setup()
+{
+  pinMode(in1Pin, OUTPUT);
+  pinMode(in2Pin, OUTPUT);
+  pinMode(in3Pin, OUTPUT);
+  pinMode(in4Pin, OUTPUT);
+ 
+  // this line is for Leonardo's, it delays the serial interface
+  // until the terminal window is opened
+  while (!Serial);
+  
+  Serial.begin(9600);
+  motor.setSpeed(20);
+}
+ 
+void loop()
+{
+  if (Serial.available())
+  {
+    int steps = Serial.parseInt();
+    motor.step(steps);
+  }
+}

trunk/Arduino/sketch_pro_LineFollower/line_follower_LDR.ino.txt

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+
+#define lights 9
+int LDR1, LDR2, LDR3; // sensor values
+// calibration offsets
+int leftOffset = 0, rightOffset = 0, centre = 0;
+// pins for motor speed and direction
+int speed1 = 3, speed2 = 11, direction1 = 12, direction2 = 13;
+// starting speed and rotation offset
+int startSpeed = 150, rotate = 30; /* CHANGE START SPEED IF YOUR ROBOT IS TOO SLOW, AND CHANGE THE ROTATE VALUE ACCORDING TO YOUR 
+TURNING ANGLE OF BLACK LINE.*/
+
+// sensor threshold
+int threshhold = 5;
+/*Threshold is the difference in values required between the center sensor and the left or right sensors
+before the robot decides to make a turn. In my case, a setting of 5 worked well. This means that the left and right
+sensors would need to detect a value greater than the value read from the center sensor plus the
+threshold value before action is taken. In other words, if the center sensor is reading a value of 600 and
+the left sensor is reading 603, then the robot will keep going straight. However, a left sensor value of 612
+(which is higher than the center value plus threshold) means that the left sensor is detecting the back
+line, indicating that the robot is too far over to the left. So the motors would adjust to make the robot
+turn to the right to compensate.
+The threshold value will vary depending on the contrast between your floor (or whatever surface
+you use) and the black line. This may need to be adjusted to ensure the robot only turns when it has
+detected enough of a difference between floor and line to ascertain it had moved too far left or right.*/
+
+// initial speeds of left and right motors
+int left = startSpeed, right = startSpeed;
+// Sensor calibration routine
+void calibrate() {
+	for (int x=0; x<10; x++) { // run this 10 times to obtain average
+		digitalWrite(lights, HIGH); // lights on
+		delay(100);
+		LDR1 = analogRead(0); // read the 3 sensors
+		LDR2 = analogRead(1);
+		LDR3 = analogRead(2);
+		leftOffset = leftOffset + LDR1; // add value of left sensor to total
+		centre = centre + LDR2; // add value of centre sensor to total
+		rightOffset = rightOffset + LDR3; // add value of right sensor to total
+		delay(100);
+		digitalWrite(lights, LOW); // lights off
+		delay(100);
+		}
+	// obtain average for each sensor
+	leftOffset = leftOffset / 10;
+	rightOffset = rightOffset / 10;
+	centre = centre /10;
+	// calculate offsets for left and right sensors
+	leftOffset = centre - leftOffset;
+	rightOffset = centre - rightOffset;
+}
+void setup()
+{
+	// set the motor pins to outputs
+	pinMode(lights, OUTPUT); // lights
+	pinMode(speed1, OUTPUT);
+	pinMode(speed2, OUTPUT);
+	pinMode(direction1, OUTPUT);
+	pinMode(direction2, OUTPUT);
+	// calibrate the sensors
+	calibrate();
+	delay(3000);
+	digitalWrite(lights, HIGH); // lights on
+	delay(100);
+	// set motor direction to forward
+	digitalWrite(direction1, HIGH);
+	digitalWrite(direction2, HIGH);
+	// set speed of both motors
+	analogWrite(speed1,left);
+	analogWrite(speed2,right);
+}
+void loop() {
+	// make both motors same speed
+	left = startSpeed;
+	right = startSpeed;
+	// read the sensors and add the offsets
+	LDR1 = analogRead(0) + leftOffset;
+	LDR2 = analogRead(1);
+	LDR3 = analogRead(2) + rightOffset;
+	// if LDR1 is greater than the centre sensor + threshold turn right
+	if (LDR1 > (LDR2+threshhold)) {
+		left = startSpeed + rotate;
+		right = startSpeed - rotate;
+		}
+	// if LDR3 is greater than the centre sensor + threshold turn left
+	if (LDR3 > (LDR2+threshhold)) {
+		left = startSpeed - rotate;
+		right = startSpeed + rotate;
+		}
+	// send the speed values to the motors
+	analogWrite(speed1,left);
+	analogWrite(speed2,right);
+}
+

trunk/Arduino/sketch_pro_LineFollower/makefile

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+# Arduino Make file. Refer to https://github.com/sudar/Arduino-Makefile
+#
+
+#BOARD_TAG    = uno
+BOARD_TAG = pro
+BOARD_SUB = 8MHzatmega168
+include ../paths.mk
+include ../Arduino.mk
+
+# --- leonardo (or pro micro w/leo bootloader)
+#BOARD_TAG    = leonardo
+#MONITOR_PORT = /dev/ttyACM0
+#include /usr/share/arduino/Arduino.mk
+
+# --- mega2560 ide 1.0
+#BOARD_TAG    = mega2560
+#ARDUINO_PORT = /dev/ttyACM0
+#include /usr/share/arduino/Arduino.mk
+
+# --- mega2560 ide 1.6
+#BOARD_TAG    = mega
+#BOARD_SUB    = atmega2560
+#MONITOR_PORT = /dev/ttyACM0
+#ARDUINO_DIR  = /where/you/installed/arduino-1.6.5
+#include /usr/share/arduino/Arduino.mk
+
+# --- nano ide 1.0
+#BOARD_TAG    = nano328
+#MONITOR_PORT = /dev/ttyUSB0
+#include /usr/share/arduino/Arduino.mk
+
+# --- nano ide 1.6
+#BOARD_TAG   = nano
+#BOARD_SUB   = atmega328
+#ARDUINO_DIR = /where/you/installed/arduino-1.6.5
+#include /usr/share/arduino/Arduino.mk
+
+# --- pro mini
+#BOARD_TAG    = pro5v328
+#MONITOR_PORT = /dev/ttyUSB0
+#include /usr/share/arduino/Arduino.mk
+
+# --- sparkfun pro micro
+#BOARD_TAG         = promicro16
+#ALTERNATE_CORE    = promicro
+#BOARDS_TXT        = $(HOME)/arduino/hardware/promicro/boards.txt
+#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/promicro/bootloaders
+#BOOTLOADER_PATH   = caterina
+#BOOTLOADER_FILE   = Caterina-promicro16.hex
+#ISP_PROG     	   = usbasp
+#AVRDUDE_OPTS 	   = -v
+#include /usr/share/arduino/Arduino.mk
+
+# --- chipkit
+#BOARD_TAG = mega_pic32
+#MPIDE_DIR = /where/you/installed/mpide-0023-linux64-20130817-test
+#include /usr/share/arduino/chipKIT.mk
+
+# --- pinoccio
+#BOARD_TAG         = pinoccio256
+#ALTERNATE_CORE    = pinoccio
+#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/pinoccio/bootloaders
+#BOOTLOADER_PATH   = STK500RFR2/release_0.51
+#BOOTLOADER_FILE   = boot_pinoccio.hex
+#CFLAGS_STD        = -std=gnu99
+#CXXFLAGS_STD      = -std=gnu++11
+#include /usr/share/arduino/Arduino.mk
+
+# --- fio
+#BOARD_TAG = fio
+#include /usr/share/arduino/Arduino.mk
+
+# --- atmega-ng ide 1.6
+#BOARD_TAG    = atmegang
+#BOARD_SUB    = atmega168
+#MONITOR_PORT = /dev/ttyACM0
+#ARDUINO_DIR  = /where/you/installed/arduino-1.6.5
+#include /usr/share/arduino/Arduino.mk
+
+# --- arduino-tiny ide 1.0
+#ISP_PROG     	    = usbasp
+#BOARD_TAG          = attiny85at8
+#ALTERNATE_CORE     = tiny
+#ARDUINO_VAR_PATH   = $(HOME)/arduino/hardware/tiny/cores/tiny
+#ARDUINO_CORE_PATH  = $(HOME)/arduino/hardware/tiny/cores/tiny
+#AVRDUDE_OPTS 	    = -v
+#include /usr/share/arduino/Arduino.mk
+
+# --- arduino-tiny ide 1.6
+#ISP_PROG       = usbasp
+#BOARD_TAG      = attiny85at8
+#ALTERNATE_CORE = tiny
+#ARDUINO_DIR    = /where/you/installed/arduino-1.6.5
+#include /usr/share/arduino/Arduino.mk
+
+# --- damellis attiny ide 1.0
+#ISP_PROG       = usbasp
+#BOARD_TAG      = attiny85
+#ALTERNATE_CORE = attiny-master
+#AVRDUDE_OPTS   = -v
+#include /usr/share/arduino/Arduino.mk
+
+# --- damellis attiny ide 1.6
+#ISP_PROG       = usbasp
+#BOARD_TAG      = attiny
+#BOARD_SUB      = attiny85
+#ALTERNATE_CORE = attiny
+#F_CPU          = 16000000L
+#ARDUINO_DIR    = /where/you/installed/arduino-1.6.5
+#include /usr/share/arduino/Arduino.mk
+
+# --- teensy3
+#BOARD_TAG 	 = teensy31
+#ARDUINO_DIR = /where/you/installed/the/patched/teensy/arduino-1.0.6
+#include /usr/share/arduino/Teensy.mk
+
+# --- mighty 1284p
+#BOARD_TAG         = mighty_opt
+#BOARDS_TXT        = $(HOME)/arduino/hardware/mighty-1284p/boards.txt
+#BOOTLOADER_PARENT = $(HOME)/arduino/hardware/mighty-1284p/bootloaders
+#BOOTLOADER_PATH   = optiboot
+#BOOTLOADER_FILE   = optiboot_atmega1284p.hex
+#ISP_PROG     	   = usbasp
+#AVRDUDE_OPTS 	   = -v
+#include /usr/share/arduino/Arduino.mk
+
+# --- atmega328p on breadboard
+#BOARD_TAG    = atmega328bb
+#ISP_PROG     = usbasp
+#AVRDUDE_OPTS = -v
+#BOARDS_TXT   = $(HOME)/arduino/hardware/breadboard/boards.txt
+#include /usr/share/arduino/Arduino.mk

trunk/Arduino/sketch_pro_LineFollower/sketch_pro_LineFollower.ino

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+ /* **************************************** *
+  * Title                                    *
+  * **************************************** *
+  * (C) 201x-xx-xx Paolo Iocco               *
+  * rev. 0.x                                 *
+  * **************************************** *
+  * Circuit diagram
+  * ---------------
+  *					 +-------+
+  *					 | ooooo |
+  *       D1--TX<----|   A   |<---------RAW
+  *       D0--RX---->|   r   |<---------GND
+  *       RST------->|   d   |<---------RST
+  *       GND------->|   u   |<---------VCC
+  *       D2-------->|   i   |-----A3---D17
+  *       D3----#--->|   n   |-----A2---D16
+  *       D4-------->|   o   |-----A1---D15
+  *       D5<---#----|       |-----A0---D14
+  *       D6<---#----|   m   |-----SCK--D13
+  *       D7---------|   i   |-----MISO-D12
+  *       D8---------|   n   |--#--MOSI-D11
+  *       D9----#----|   i   |--#--SS---D10
+  *					 +-------+
+  *
+  * ***************************************** */
+
+
+//int motorPin = 3;
+int pwm1 = 9;
+int pwm2 = 10;
+int pwm3 = 6;
+int pwm4 = 5;
+int led = 13;
+
+void setup()
+{
+  pinMode(pwm1, OUTPUT);
+  pinMode(pwm2, OUTPUT);
+  pinMode(pwm3, OUTPUT);
+  pinMode(pwm4, OUTPUT);
+  pinMode(led, OUTPUT);
+  Serial.begin(9600);
+  while (!Serial);
+  Serial.println("Speed 0 to 255");
+}
+
+
+void loop()
+{
+  if (Serial.available())
+  {
+    int speed = Serial.parseInt();
+    if (speed >= 0 && speed <= 255)
+    {
+      Serial.println(speed);
+      analogWrite(pwm1, speed);
+      analogWrite(pwm2, speed);
+      analogWrite(pwm3, speed);
+      analogWrite(pwm4, speed);
+    }
+  }
+  digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
+  delay(900);              // wait for a second
+  digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
+  delay(100);
+}
+