CrEp4E the object avoidance buzzing & blinking theremin robot :). With Update ! Bump Switches are functional

martinrobotika · July 12, 2013, 7:32pm

Hello to all, this is my first lmr added project, i've build robot in arduino ide, it's verry simple code, i've made this robot from scrap as you can see i found my old dvd's and i wanted to throw them away in the garbage, so i thought my self what can i do with them if i recycle them so i wanted to build a cd/dvd coaster bot i found some lds, my arduino board and some resistors and some secretary machine box and i took from there some bump switches and i got some plastic laying around so i wen't to near electronics shop and bought blank pcb and l293d motor controller, and terminal blocks, so i made a pcb layout in circuit wizard pc program and asked my dad for some rechargable bateries, he said that we've had in our weekend village house, and i found a 2AA battery pack with litle switch and than i bought a 9V battery to power the arduino board. After 3 weeks i've build my first microcontroller based robot. it was navigating with bump switches. i almost forgot i've got the motors for the robot from a rc car which i bought from my near mall about 600 denars i bought 2 of these rc cars. After all i was doing this in the end of the 3th high school year, and i didn't have much time to make more esthetic, So when my school year ended i wanted to rebuild and to add ultrasonic sensor for better navigation and some leds and a speaker, so i've done that. The robot works, but i want to make the bump switches functional with the ultrasonic sensor together. So if some one can help me about this problem it would be very great and i'll be very thankful. so here is the video of my first robot with bump switches, link: http://www.youtube.com/watch?v=VQovABdRbh4 down in the description is the code for the robot and pcb layout for the motor controller board that i'am using on the both robots the new and the old one. The codes are simple but i don't know how to combine them :). And Big THANKS TO HACKLAB KIKA THE FIRST HACKER SPACE IN MACEDONIA for borowing the srf05 ultrasonic distance sensor.

Here are some images

final update od the code: http://pastebin.com/Ckya95be

It acts as a theremin instrument and avoids obstacles also entertain :)

Actuators / output devices: toy car steering geared motors, L293D Motor controller
Control method: Autonomous.
CPU: Arduino Duemilanove
Operating system: Arduino bootloader, Windows XP and Lubuntu
Power source: 9v battery, 4AA Rechargable battery pack
Programming language: C/C++
Sensors / input devices: bumper switches, SRF05Ultra Sound
Target environment: Smooth surfaces., Indor

This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/crep4e-the-object-avoidance-buzzing-blinking-theremin-robot-with-update-bump-switches-are-functional

martinrobotika · July 13, 2013, 10:43am

Thank you

Thank you

birdmun · July 16, 2013, 3:57pm

Just a thought

const byte numOfReadings = 10; // number of readings to take/ items in the array

int readings[numOfReadings];   // stores the distance readings in an array

int arrayIndex = 0;            // arrayIndex of the current item in the array

int total = 0;                 // stores the cumlative total

int averageDistance = 0;       // stores the average value
// setup pins and variables for SRF05 sonar device
const byte echoPin = 2;        // SRF05 echo pin (digital 2)

const byte initPin = 3;        // SRF05 trigger pin (digital 3)

unsigned long pulseTime = 0;   // stores the pulse in Micro Seconds

unsigned long distance = 0;    // variable for storing the distance (cm)

unsigned long soundDelay = 0;

const byte speakerPin = 5;

const byte motor1Pin1 = 8;     // pin 2 on L293D

const byte motor1Pin2 = 7;     // pin 7 on L293D

const byte motor2Pin1 = 10;    // pin 10 on L293D

const byte motor2Pin2 = 9;     // pin  15 on L293D

const byte led1 = 12;

const byte led2 = 4;

const byte leftSwitch = 6;

const byte rightSwitch = 11;

//const byte ENABLE1 = ; // uncomment and include a pin to connect the ENABLE to

//const byte ENABLE2 = ; // uncomment and include a pin to connect the ENABLE to

boolean readingLeftSwitch = LOW;     // the current reading from the left input pin

boolean readingRightSwitch= LOW;     // the current reading from the right input pin
void setup() {

// set the motor pins as outputs:

pinMode(motor1Pin1, OUTPUT);

pinMode(motor1Pin2, OUTPUT);

pinMode(motor2Pin1, OUTPUT);

pinMode(motor2Pin2, OUTPUT);

//pinMode(ENABLE1, OUTPUT);

//pinMode(ENABLE2, OUTPUT);

pinMode(initPin, OUTPUT);                    // set init pin 3 as output

pinMode(echoPin, INPUT);                     // set echo pin 2 as input

pinMode(speakerPin, OUTPUT);                 // sets pin 6 as outpu

pinMode(led1, OUTPUT);

pinMode(led2, OUTPUT);
// create array loop to iterate over every item in the array

//not really required. Arrays are initialized to 0 in all elements

for (int thisReading = 0; thisReading < numOfReadings; thisReading++) {

readings[thisReading] = 0;

}

}
void loop() {

for (int i = 0; i < numOfReadings; i++) {

distance = distanceCheck();

total += distance;

}

readingLeftSwitch = digitalRead(leftSwitch);

readingRightSwitch = digitalRead(rightSwitch);

//~ total = total - readings[arrayIndex];         // subtract the last distance

//~ readings[arrayIndex] = distance;              // add distance reading to array

//~ total = total + readings[arrayIndex];         // add the reading to the total

//~ arrayIndex = arrayIndex + 1;                  // go to the next item in the array                                 
//~ // At the end of the array (10 items) then start again

//~ if (arrayIndex >= numOfReadings)  {

//~ arrayIndex = 0;

//~ }
averageDistance = total / numOfReadings;      // calculate the average distance

delay(10);
// check the average distance and move accordingly

if ((averageDistance <= 10) || ((readingLeftSwitch == HIGH) &&

(readingRightSwitch == HIGH))) {

// go backwards

move(-100, -100);

}

if ((averageDistance <= 25 && averageDistance > 10) || ((readingLeftSwitch == LOW) &&

(readingRightSwitch == HIGH))) {

// turn

move(100, -100);

}

if ((readingLeftSwitch == HIGH) && (readingRightSwitch == LOW)) {

// turn

move(-100, 100);

}

if ((averageDistance > 25) || ((readingLeftSwitch == LOW) &&

(readingRightSwitch == LOW))) {

// go forward

move(100, 100);

}

}
void move(int left, int right) {

//ints are passed so when you add PWM to the ENABLE pins you can control

//the speed of each motor

if (left > 0) {

digitalWrite(motor1Pin1, LOW);

digitalWrite(motor1Pin2, HIGH);

digitalWrite(led1, LOW);

} else if (left < 0) {

digitalWrite(motor1Pin1, HIGH);

digitalWrite(motor1Pin2, LOW);

digitalWrite(led1, HIGH);

} else {

digitalWrite(motor1Pin1, LOW);

digitalWrite(motor1Pin2, LOW);

digitalWrite(led1, LOW);

}

if (right > 0) {

digitalWrite(motor2Pin1, LOW);

digitalWrite(motor2Pin2, HIGH);

digitalWrite(led2, LOW);

} else if (right < 0) {

digitalWrite(motor2Pin1, HIGH);

digitalWrite(motor2Pin2, LOW);

digitalWrite(led2, HIGH);

} else {

digitalWrite(motor2Pin1, LOW);

digitalWrite(motor2Pin2, LOW);

digitalWrite(led2, LOW);

}

//analogWrite(ENABLE1, left);

//analogWrite(ENABLE2, right);

}
int distanceCheck() {

digitalWrite(initPin, HIGH);        // send 10 microsecond pulse

delayMicroseconds(10);              // wait 10 microseconds before turning off

digitalWrite(initPin, LOW);         // stop sending the pulse

// Look for a return pulse, it should be high as the pulse goes low-high-low

pulseTime = pulseIn(echoPin, HIGH);

distance = pulseTime/58;            // Distance = pulse time / 58 to convert to cm.

soundDelay = pulseTime/3;

if (distance < 25) {

digitalWrite(speakerPin, HIGH);

delayMicroseconds(soundDelay);

digitalWrite(speakerPin, LOW);

delayMicroseconds(soundDelay);

}

return distance;

}

All I can say about the code above is that it compiles. It looks right to me, but, I make no promises.