Help me in maze solving robot

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1

hello how i can make changes in qtr-8 polulu sensor code to make it for ir pair

asking the changes  for patrik maze solving robot

 

#define leftCenterSensor A3

#define leftNearSensor A4

#define leftFarSensor A5

#define rightCenterSensor A2

#define rightNearSensor A1

#define rightFarSensor A0

int leftCenterReading;

int leftNearReading;

int leftFarReading;

int rightCenterReading;

int rightNearReading;

int rightFarReading;

int leftNudge;

int replaystage;

int rightNudge;

#define threshHold 130

#define leapTime 70

#define turnSpeed 150

#define forwardSpeed 245

#define correctionSpeed 40

#define turnSoftner 70

#define leftMotor1 2

#define leftMotor2 3

#define rightMotor1 4

#define rightMotor2 5

#define leftEnable 3

#define rightEnable 5

#define led 13

char path[30] = {};

int pathLength;

int readLength;

void setup(){

pinMode(leftCenterSensor, INPUT);

pinMode(leftNearSensor, INPUT);

pinMode(leftFarSensor, INPUT);

pinMode(rightCenterSensor, INPUT);

pinMode(rightNearSensor, INPUT);

pinMode(rightFarSensor, INPUT);

pinMode(leftMotor1, OUTPUT);

pinMode(leftMotor2, OUTPUT);

pinMode(rightMotor1, OUTPUT);

pinMode(rightMotor2, OUTPUT);

pinMode(leftEnable, OUTPUT);

pinMode(rightEnable, OUTPUT);

pinMode(led, OUTPUT);

//Serial.begin(115200);

digitalWrite(led, HIGH);

digitalWrite(leftEnable, HIGH);

digitalWrite(rightEnable, HIGH);

delay(1000);

}

void loop(){

readSensors();

if(leftFarReading<threshHold && rightFarReading<threshHold && //If we do not see a left or right turn

(leftCenterReading>threshHold || rightCenterReading>threshHold) ){ // and at least 1 center sensor sees the black line

straight(); //keep driving straight

}

else{

leftHandWall(); //else we must make a decision

}

}

void readSensors(){

leftCenterReading = analogRead(leftCenterSensor);

leftNearReading = analogRead(leftNearSensor);

leftFarReading = analogRead(leftFarSensor);

rightCenterReading = analogRead(rightCenterSensor);

rightNearReading = analogRead(rightNearSensor);

rightFarReading = analogRead(rightFarSensor);

// serial printing below for debugging purposes

// Serial.print("leftCenterReading: ");

// Serial.println(leftCenterReading);

// Serial.print("leftNearReading: ");

// Serial.println(leftNearReading);

// Serial.print("leftFarReading: ");

// Serial.println(leftFarReading);

// Serial.print("rightCenterReading: ");

// Serial.println(rightCenterReading);

// Serial.print("rightNearReading: ");

// Serial.println(rightNearReading);

// Serial.print("rightFarReading: ");

// Serial.println(rightFarReading);

// delay(200);

}

void leftHandWall(){


analogWrite(leftEnable, 255); //full speed ahead for leap

analogWrite(rightEnable, 255); // full speed ahed for leap

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

if( leftFarReading>threshHold && rightFarReading>threshHold){ //both sensors on black

delay(leapTime); //leap

readSensors(); //recheck sensors after leap

if(leftFarReading>threshHold || rightFarReading>threshHold){ // if both are still on black then we are done

done(); // we are done solving

}

if(leftFarReading<threshHold && rightFarReading<threshHold){ //both are on white which means we need to turn left now

turnLeft(); //turn left

}

}

if(leftFarReading>threshHold){ // if you can turn left then turn left

delay(leapTime); //leap

readSensors(); //recheck sensors after leap

if(leftFarReading<threshHold && rightFarReading<threshHold){ // both are one white so turn left

turnLeft(); // turn left

}

else{

done(); // one sees black? then we are done

}

}

if(rightFarReading>threshHold){ //no left turn, maybe we need to turn right then

delay(10); // drive forward a hair

readSensors(); //recheck sensors

if(leftFarReading>threshHold){ // are we positive we can't turn left

delay(leapTime-10); // leap

readSensors(); //read sensors

if(rightFarReading>threshHold && leftFarReading>threshHold){ // if all are black

done(); // we are done

}

else{

turnLeft(); //else we need to turn left

return;

}

}

delay(leapTime-10); //leap

readSensors(); // rechekc sensors

if(leftFarReading<threshHold && leftCenterReading<threshHold &&

rightCenterReading<threshHold && rightFarReading<threshHold){ //all are white meaning this is a required right turn

turnRight(); // turn right

return;

}

// all was not white so we can continue driving forward

path[pathLength]='S';

pathLength++;

if(path[pathLength-2]=='B'){

shortPath();

}

straight();

}

readSensors();

if(leftFarReading<threshHold && leftCenterReading<threshHold && rightCenterReading<threshHold

&& rightFarReading<threshHold && leftNearReading<threshHold && rightNearReading<threshHold){ // all is white, turn around.

turnAround();

}

}

void done(){

digitalWrite(leftMotor1, LOW);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, LOW);

digitalWrite(rightMotor2, LOW);

replaystage=1;

path[pathLength]='D';

pathLength++;

while(analogRead(leftFarSensor)>threshHold){

digitalWrite(led, LOW);

delay(150);

digitalWrite(led, HIGH);

delay(150);

}

delay(1000);

replay();

}

void turnLeft(){

while(analogRead(rightCenterSensor)>threshHold || analogRead(leftCenterSensor)>threshHold){

digitalWrite(leftMotor1, LOW);

digitalWrite(leftMotor2, HIGH);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

analogWrite(leftEnable, turnSpeed);

analogWrite(rightEnable, turnSpeed);

}

while(analogRead(leftFarSensor)<threshHold){

digitalWrite(leftMotor1, LOW);

digitalWrite(leftMotor2, HIGH);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

analogWrite(leftEnable, turnSpeed);

analogWrite(rightEnable, turnSpeed);

}

while(analogRead(leftCenterSensor)<threshHold){

digitalWrite(leftMotor1, LOW);

digitalWrite(leftMotor2, HIGH);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

analogWrite(leftEnable, turnSpeed-(turnSoftner));

analogWrite(rightEnable, turnSpeed-(turnSoftner));

}

if(replaystage==0){

path[pathLength]='L';

pathLength++;

if(path[pathLength-2]=='B'){

shortPath();

}

}

straight();

}

void turnRight(){

while(analogRead(rightFarSensor)<threshHold){

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, LOW);

digitalWrite(rightMotor2, HIGH);

analogWrite(leftEnable, turnSpeed);

analogWrite(rightEnable, turnSpeed);

}

while(analogRead(rightCenterSensor)<threshHold){

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, LOW);

digitalWrite(rightMotor2, HIGH);

analogWrite(leftEnable, turnSpeed-(turnSoftner));

analogWrite(rightEnable, turnSpeed-(turnSoftner));

}

if(replaystage==0){

path[pathLength]='R';

pathLength++;

if(path[pathLength-2]=='B'){

shortPath();

}

}

straight();

}

void straight(){

if( analogRead(leftCenterSensor)<threshHold){

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

analogWrite(leftEnable, 255);

analogWrite(rightEnable, correctionSpeed);

return;

}

else if(analogRead(rightCenterSensor)<threshHold){

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

analogWrite(leftEnable, correctionSpeed);

analogWrite(rightEnable, 255);

return;

}

else{

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

analogWrite(leftEnable, forwardSpeed);

analogWrite(rightEnable, forwardSpeed);

}

}

void turnAround(){

analogWrite(leftEnable, 255);

analogWrite(rightEnable, 255);

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

delay(leapTime);

while(analogRead(leftFarSensor)<threshHold){

digitalWrite(leftMotor1, LOW);

digitalWrite(leftMotor2, HIGH);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

analogWrite(leftEnable, turnSpeed);

analogWrite(rightEnable, turnSpeed);

}

while(analogRead(leftCenterSensor)<threshHold){

digitalWrite(leftMotor1, LOW);

digitalWrite(leftMotor2, HIGH);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

analogWrite(leftEnable, turnSpeed-(turnSoftner+70));

analogWrite(rightEnable, turnSpeed-(turnSoftner+70));

}

path[pathLength]='B';

pathLength++;

straight();

}

void shortPath(){

int shortDone=0;

if(path[pathLength-3]=='L' && path[pathLength-1]=='R'){

pathLength-=3;

path[pathLength]='B';

shortDone=1;

}

if(path[pathLength-3]=='L' && path[pathLength-1]=='S' && shortDone==0){

pathLength-=3;

path[pathLength]='R';

shortDone=1;

}

if(path[pathLength-3]=='R' && path[pathLength-1]=='L' && shortDone==0){

pathLength-=3;

path[pathLength]='B';

shortDone=1;

}

if(path[pathLength-3]=='S' && path[pathLength-1]=='L' && shortDone==0){

pathLength-=3;

path[pathLength]='R';

shortDone=1;

}

if(path[pathLength-3]=='S' && path[pathLength-1]=='S' && shortDone==0){

pathLength-=3;

path[pathLength]='B';

shortDone=1;

}

if(path[pathLength-3]=='L' && path[pathLength-1]=='L' && shortDone==0){

pathLength-=3;

path[pathLength]='S';

shortDone=1;

}

path[pathLength+1]='D';

path[pathLength+2]='D';

pathLength++;

}

void replay(){

readSensors();

if(leftFarReading<threshHold && rightFarReading<threshHold){

straight();

}

else{

analogWrite(leftEnable, 255);

analogWrite(rightEnable, 255);

if(path[readLength]=='D'){

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

delay(100);

digitalWrite(leftMotor1, LOW);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, LOW);

digitalWrite(rightMotor2, LOW);

endMotion();

}

if(path[readLength]=='L'){

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

delay(leapTime);

turnLeft();

}

if(path[readLength]=='R'){

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

delay(leapTime);

turnRight();

}

if(path[readLength]=='S'){

digitalWrite(leftMotor1, HIGH);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, HIGH);

digitalWrite(rightMotor2, LOW);

delay(leapTime);

straight();

}

readLength++;

}

replay();

}

void endMotion(){

digitalWrite(leftMotor1, LOW);

digitalWrite(leftMotor2, LOW);

digitalWrite(rightMotor1, LOW);

digitalWrite(rightMotor2, LOW);

digitalWrite(led, LOW);

delay(500);

digitalWrite(led, HIGH);

delay(200);

digitalWrite(led, LOW);

delay(200);

digitalWrite(led, HIGH);

delay(500);

endMotion();

 

}

2

I am not sure what your asking.

I checked the data on that sensor and its wired as 8 IR pairs. The code looks like it uses 6 of them one attached to each Analog input.

Whenever I get or build a new sensor I use some of the example code to see how it works.  That way I do not have to chase it around the floor while learning what i did wrong.

 

R.G.

3

Sigh. You asked the same

Sigh. You asked the same question in your other post here. Please try not to repeat posts. It will make it much harding to support you now, and in the future, someone searching the site for the answer to a similar problem will have two places to check instead of one.

4

Repeating my answer here, so

Repeating my answer here, so maybe you can retire that other post.

So which sensor are you actually trying to use? Is it the QTR-8A analog sensor array?

What exactly do you mean by changing the code to make it “for a pair”? Do you mean that you are actually using a pair of QTR-1A analog sensors, but you are working from code for the QTR-8A? I know the Pololu QTR-8 sensors can be split into two pieces to give you one 6-sensor array and one 2-sensor array. Is that what you are doing? 

Where did this code originate from? Provide a link if you can.

More info would really be helpful in solving your problem. If you would accept some gentle constructive advice, when you post a question, remember that the people trying to help you don’t know anything about your project. You’ll save a lot of time if you provide background and supporting info along with your question.

To give you are start before getting answers to any of my questions above, take a look at Pololu’s application guide for these sensors. They have an Arduino library you can use. The application guide explains all the commands, provides examples, etc.