181114KA
Hello!
The first goal in this project was to get the neurorobot_reboot to perform a simple autonomous “Roomba” function, ie. move around without bumping into anything. I accomplished this more or less successfully, so the code is pasted in below. One of the main issues is that I hard-coded in timings, so as the battery depletes, the code works less-well; currently (hehe), I’m looking into using motor encoders to solve this problem.
Here’s a video file of it working (will download): 181114KA_NeuralRobot_Progression
Edit 190122KA: and here’s a document I just typed up that quickly runs over different parts of the code: A Quick Rundown of Roomba
//11/14/18
//created 9/2118 by Kanwal Ahmad
//not original code; this is a remix of Filename: NeuroRobot_Original_Code provided by Alex Kaiser
//plus some other stuff I guess :)
class Motor{
private:
int pin_enable; //this is the thing that you set the speed with
int pin_forward; //basically each motor has two of these pins,
int pin_backward; //and you use them to reverse polarity and switch direction
public:
Motor(int enable, int one, int two){
pin_enable = enable;
pin_forward = one;
pin_backward = two;
//in the old code they essentially combined these last two steps with something fancy
//oh well, this is easier to understand lol
}
void motorSpeed(int Speed){
if(Speed > 0 || Speed == 0){ //here, I'm asking which way to set the polarity, with the idea being that I can input pos. or neg. speeds into the function
digitalWrite(pin_forward, HIGH);
digitalWrite(pin_backward, LOW);
analogWrite(pin_enable, Speed);
}
else{
digitalWrite(pin_forward, LOW);
digitalWrite(pin_backward, HIGH);
analogWrite(pin_enable, -Speed);
}
}
};
//Reverse Polarity protector is plugged into Pin 12 on the MEGA shield
Motor right_motor(5, 42, 43);
Motor left_motor(6, 44, 45);
char SIDE;
int right_speed;
int left_speed;
void setSpeeds(int bothSpeed){
right_motor.motorSpeed(bothSpeed);
left_motor.motorSpeed(bothSpeed);
}
void turn(int bothSpeed)
{
right_motor.motorSpeed(bothSpeed);
left_motor.motorSpeed(-bothSpeed);
}
//now let's start working with the sensors
//set up the LongRange sensor class "Sensor"
class Sensor{
private:
int trigPin;
int echoPin;
long duration;
int distance;
void trigger(){
//clears the trigpin
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(2);
digitalWrite(trigPin, LOW);
}
public:
Sensor(int trig, int echo){
trigPin = trig;
echoPin = echo;
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
}
int dist() {
trigger(); //i literally floundered for the longest time BC I FORGOT THIS AAAAH
//reads the echopin and returns the sound wave travel time in ms
duration = pulseIn(echoPin, HIGH);
//calculate the distance
distance = duration*.034/2;
return distance;
}
};
//finished setting up the class
//now let's instantiate the actual sensors (yay!)
//it's (trig, echo)
Sensor bl(20, 21); //ie back right
Sensor bm(18, 19);
Sensor br(16, 17);
Sensor fl(36, 37);
Sensor fm(35, 34);
// Sensor fr(32, 33); //out of comission
void adjust(){
int tooclose = 20;
int justright = 27;
int toofar = 50;
int goaway = 10;
//since one of the front sensors is broken, I'm going to code this with the back
if(bm.dist() > tooclose && bl.dist() > goaway && br.dist() > goaway)
{
setSpeeds(-70);
}
else if (bm.dist() < tooclose)
{
if(bl.dist() > br.dist() && bl.dist() > tooclose)
{
turn(-90);
delay(250);
}
else if(br.dist() > tooclose)
{
turn(90);
delay(250);
}
else if(bl.dist() < tooclose && br.dist() < tooclose)
{
setSpeeds(70);
delay(400);
}
}
}
void readSpeed()
{
char SIDE = Serial.read(); //read a character that will determine which motor speed to set in next if-loops
int in = Serial.parseInt(); //now read the motor speed
if (SIDE == 'R'){ //R designates the right motor
right_motor.motorSpeed(in);
right_speed = in;
}
else if (SIDE == 'L') { //L designates the left motor
left_motor.motorSpeed(in);
left_speed = in;
}
else if (SIDE == 'B'){
setSpeeds(in);
right_speed = in;
left_speed = in;
}
Serial.print("Right: ");
Serial.println(right_speed, DEC); //print out the new speeds (ie. check that the correct one was changed)
Serial.print("Left: ");
Serial.println(left_speed, DEC);
Serial.println("--------------");
delay(10);
}
void setup() {
Serial.begin(9600);
Serial.println("Starting up...");
digitalWrite(40, LOW); //interruptPin
}
void loop() {
//this is the loop that checks Serial availability and then for motor speed inputs
if (Serial.available() > 0) { //check that the Serial Monitor works
}
adjust();
Serial.println("adjust!");
//readSpeed();
}