Replacing ode of qtr 8 polulu sesor

eagleanurag · January 11, 2017, 12:57pm

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();

}

ignoblegnome · January 12, 2017, 9:15am

So which sensor are you

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.