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add Makerfaire 2017 robot code

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shark 6 years ago
parent aba31162e3
commit 4c2ff902af
1 changed files with 491 additions and 0 deletions
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robot-mf2017.ino
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#include <IRremote.h>
int RECV_PIN1 = 13;
IRrecv irrecvmain(RECV_PIN1);
int RECV_PIN2 = 2;
int RECV_PIN3 = 26;
int RECV_PIN4 = 28;
int RECV_PIN5 = 30;
IRrecv irrecv2(RECV_PIN2);
IRrecv irrecv3(RECV_PIN3);
decode_results resultsmain;
decode_results results2;
decode_results results3;
IRrecv irrecv4(RECV_PIN4);
IRrecv irrecv5(RECV_PIN5);
decode_results results4;
decode_results results5;
int checkloop = 0;
int intright = 0;
int intleft = 0;
int intfor = 0;
int intback = 0;
int check1 = 0;
//driving
int slow = 0;
int LF = 6;
int LB = 9;
int RB = 11;
int RF = 10;
int echo1 = 5;
int trig1 = 12;
int echo2 = 3;
int trig2 = 7;
int echo3 = 22;
int trig3 = 23;
int echo4 = 24;
int trig4 = 25;
int echo5 = 41;
int trig5 = 40;
long duration1;
long duration2;
long duration3;
long duration4;
long duration5;
int distanceF1;
int distanceF2;
int distanceR1;
int distanceR2;
int distanceup;
int F1;
int F2;
int b1 = 8;
int b2 = 4;
bool forward = false;
bool backward = false;
bool left = false;
bool right = false;
bool stop = true;
bool sens2;
bool sens3;
bool sens4;
bool sens5;
bool stopping = false;
unsigned long s2millis;
unsigned long s3millis;
unsigned long s4millis;
unsigned long s5millis;
unsigned long current_time;
int s2l=36;
int s3l=37;
int s4l=38;
int s5l=39;
void setup()
{
Serial.begin(9600);
irrecvmain.enableIRIn(); // Start the reciever
irrecv2.enableIRIn();
irrecv3.enableIRIn();
irrecv4.enableIRIn();
irrecv5.enableIRIn();
pinMode(RB, OUTPUT);
pinMode(RF, OUTPUT);
pinMode(LB, OUTPUT);
pinMode(LF, OUTPUT);
pinMode(trig1, OUTPUT);
pinMode(echo1, INPUT);
pinMode(trig2, OUTPUT);
pinMode(echo2, INPUT);
pinMode(trig3, OUTPUT);
pinMode(echo3, INPUT);
pinMode(trig4, OUTPUT);
pinMode(echo4, INPUT);
pinMode(trig5, OUTPUT);
pinMode(echo5, INPUT);
pinMode(b1, INPUT);
pinMode(b2, INPUT);
pinMode(s2l, OUTPUT);
pinMode(s3l, OUTPUT);
pinMode(s4l, OUTPUT);
pinMode(s5l, OUTPUT);
}
void loop() {
//Serial.println(distanceup);
delay(5);
if (stop == true) {
left = false;
right = false;
forward = false;
backward = false;
}
mainloop();
check();
if (irrecvmain.decode(&resultsmain)) {
//Serial.println("Control Sensor ");
Serial.println(resultsmain.value);
irrecvmain.resume(); // Receive the next value
if (resultsmain.value == 4294967295) {
stop = true;
forward = false;
}
else {
if (resultsmain.value == 3937909453) {
stop = false;
forward = true;
}
}
}
if (irrecv2.decode(&results2)) {
//Serial.println("Sensor 2 ");
//Serial.println(results2.value);
irrecv2.resume(); // Receive the next value
s2millis = millis();
sens2=true;
//Serial.println("2");
digitalWrite(s2l, HIGH);
stop = false;
stopping = false;
}
if (irrecv3.decode(&results3)) {
//Serial.println("Sensor 3 ");
//Serial.println(results3.value);
irrecv3.resume(); // Receive the next value
s3millis = millis();
sens3=true;
//Serial.println("3");
digitalWrite(s3l, HIGH);
stop = false;
stopping = false;
}
if (irrecv4.decode(&results4)) {
//Serial.println("Sensor 4 ");
//Serial.println(results4.value);
irrecv4.resume(); // Receive the next value
s4millis = millis();
sens4=true;
//Serial.println("4");
digitalWrite(s4l, HIGH);
stop = false;
stopping = false;
}
if (irrecv5.decode(&results5)) {
//Serial.println("Sensor 5 ");
//Serial.println(results5.value);
irrecv5.resume(); // Receive the next value
s5millis = millis();
sens5=true;
//Serial.println("5");
digitalWrite(s5l, HIGH);
stop = false;
stopping = false;
}
}
void ir1() {
if (resultsmain.value == 3772778233) {
//forward = true;
left = false;
right = false;
backward = false;
intfor=intfor+1;
resultsmain.value = 0;
}
if (resultsmain.value == 3772810873) {
//backward = true;
left = false;
right = false;
forward = false;
intback=intback+1;
resultsmain.value = 0;
}
if (resultsmain.value == 3772819033) {
backward = false;
//left = true;
right = false;
forward = false;
intleft=intleft+1;
resultsmain.value = 0;
}
if (resultsmain.value == 3772794553) {
backward = false;
left = false;
//right = true;
forward = false;
intright=intright+1;
resultsmain.value = 0;
}
if (resultsmain.value == 3772793023) {
stop = true;
}
}
void mainloop()
{
//Serial.println(digitalRead(b1));
//Serial.println(digitalRead(b2));
if (digitalRead(b1) == 1) {
if (stop == true) {
forward = true;
stop=false;
stopping=false;
delay(250);
}
else {
stop=true;
delay(250);
}
}
if (digitalRead(b2) == 1) {
if (backward == false) {
backward = true;
forward = false;
left = false;
right = false;
delay(250);
}
else {
backward = false;
delay(250);
}
}
if (stop==false) {
digitalWrite(trig1, LOW);
delayMicroseconds(2);
digitalWrite(trig1, HIGH);
delayMicroseconds(10);
digitalWrite(trig1, LOW);
duration1 = pulseIn(echo1, HIGH);
distanceF1 = duration1*0.034/2;
digitalWrite(trig2, LOW);
delayMicroseconds(2);
digitalWrite(trig2, HIGH);
delayMicroseconds(10);
digitalWrite(trig2, LOW);
duration2 = pulseIn(echo2, HIGH);
distanceF2 = duration2*0.034/2;
F1=distanceF1+2;
F2=distanceF2+2;
//Serial.print("Distance F1: ");
Serial.print(distanceF1);
Serial.print(" ");
Serial.println(distanceF2);
}
//else {
// distanceF1 = 100;
//distanceF2 = 100;
//}
if (backward == true) {
digitalWrite(trig3, LOW);
delayMicroseconds(2);
digitalWrite(trig3, HIGH);
delayMicroseconds(10);
digitalWrite(trig3, LOW);
duration3 = pulseIn(echo3, HIGH);
distanceR1 = duration3*0.034/2;
digitalWrite(trig4, LOW);
delayMicroseconds(2);
digitalWrite(trig4, HIGH);
delayMicroseconds(10);
digitalWrite(trig4, LOW);
duration4 = pulseIn(echo4, HIGH);
distanceR2 = duration4*0.034/2;
//Serial.print("Distance R1: ");
//Serial.println(distanceR1);
//Serial.print("Distance R2: ");
//Serial.println(distanceR2);
//Serial.println("");
}
else {
distanceR1 = 100;
distanceR2 = 100;
}
}
void check()
{
//GO ---------------------------------------------------------------------------
if (stop == false) {
forward=true;
if (distanceF1<20) {
stopping=true;
forward = false;
Serial.print("f1<40");
if (distanceF1>distanceF2) {
Serial.print("f1?");
if (distanceF1>F2) {
Serial.print("f1");
right=true;
left=false;
forward=false;
}
else {
stop=true;
Serial.print("stop1");
}
}
else {
right=false;
Serial.print("no2");
if (distanceF2>distanceF1) {
Serial.print("f2?");
if (distanceF2>F1) {
left=true;
right=false;
Serial.print("f2");
forward=false;
}
else {
stop=true;
Serial.print("stop3");
}
}
else {
left=false;
Serial.println("no4");
}
}
}
else {
if (distanceF2<20) {
forward = false;
stopping=true;
Serial.print("f2<40");
if (distanceF1>distanceF2) {
Serial.print("f1?");
if (distanceF1>F2) {
right=true;
left=false;
Serial.print("f1");
forward=false;
}
else {
stop=true;
Serial.print("stop4");
}
}
else {
right=false;
Serial.print("no5");
if (distanceF2>distanceF1) {
Serial.print("f2?");
if (distanceF2>F1) {
left=true;
right=false;
Serial.print("f2");
forward=false;
}
else {
stop=true;
Serial.print("stop6");
}
}
else {
left=false;
Serial.print("no7");
}
}
}
else {
if (stopping = false) {
Serial.print("no8");
forward = true;
left=false;
right=false;
}
else {
Serial.print("stopping");
}
}
}
}
if (distanceF1<10) {
right=false;
left=false;
forward=false;
backward=true;
}
else {
if (distanceF2<10) {
right=false;
left=false;
forward=false;
backward=true;
}
else {
backward=false;
}
}
if (distanceup<15) {
stop = true;
}
if (stop == true) {
left = false;
right = false;
forward = false;
backward = false;
Serial.print("stop");
stopping = false;
}
else {
Serial.print("go");
}
if (distanceF1 > 25 && distanceF2 > 25 && forward == true) {
analogWrite(RF, 255);
analogWrite(LF, 255);
analogWrite(RB, 0);
analogWrite(LB, 0);
Serial.print("forward");
}
else {
if (distanceR1 > 35 && distanceR2 > 35 && backward == true) {
analogWrite(RF, 0);
analogWrite(LF, 0);
delay(200);
analogWrite(RB, 255);
analogWrite(LB, 255);
analogWrite(RF, 0);
analogWrite(LF, 0);
Serial.print("back");
}
else {
if (left == true) {
analogWrite(RF, 255);
analogWrite(LB, 255);
analogWrite(RB, 0);
analogWrite(LF, 0);
Serial.print("left");
}
else {
if (right == true) {
analogWrite(RB, 255);
analogWrite(LF, 255);
analogWrite(RF, 0);
analogWrite(LB, 0);
Serial.print("right");
}
else {
analogWrite(RF, 0);
analogWrite(LF, 0);
analogWrite(RB, 0);
analogWrite(LB, 0);
}
}
}
}
delay(100);
if (millis()-s2millis>=750) {
sens2=false;
digitalWrite(s2l, LOW);
}
if (millis()-s3millis>=750) {
sens3=false;
digitalWrite(s3l, LOW);
}
if (millis()-s4millis>=750) {
sens4=false;
digitalWrite(s4l, LOW);
}
if (millis()-s5millis>=750) {
sens5=false;
digitalWrite(s5l, LOW);
}
}
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