Natalino's sketches

robot.ino

#include <IRremote.h> 
#include <Servo.h>
#include <SoftwareSerial.h>
//link types: 
//echo,IR,serial(BT),photores 

const int speed1 = 30;
const int speed2 = 130;

//serial(BT) 
Servo servoSx; 
Servo servoDx; 
const int pinServoSx = 7; 
const int pinServoDx = 8; 
char command;
SoftwareSerial mySerial(2,3);

//IR 
IRrecv irrecv(9); 

decode_results results; 

//echo 
long duration,cm; 
const int pingPin = 6; 
const int trigPin = 5; 
const long tooClose = 10; 
const int buzzPin = 13;

//going around randomly 
const int interval = 200; 

//photores 
const int lightSensor = A0; 
const int lightThreshold = 40; 

void setup() { 
  Serial.begin(9600); //serial
  mySerial.begin(9600);//BT
  Serial.println("ready");
  mySerial.println("ready");
  irrecv.enableIRIn(); //IR 
  pinMode(pingPin, INPUT); //echo 
  pinMode(trigPin, OUTPUT); 
} 

void attServo() { 
  servoSx.attach(pinServoSx); 
  servoDx.attach(pinServoDx); 
} 

void fdMotion(){
  attServo(); 
  servoSx.write(speed2); 
  servoDx.write(speed1); 
} 

void bkMotion(){ 
  attServo(); 
  servoSx.write(speed1); 
  servoDx.write(speed2); 
} 

void sxMotion(){ 
  attServo(); 
  servoSx.write(speed2); 
  servoDx.write(speed2); 
} 

void dxMotion(){ 
  attServo(); 
  servoSx.write(speed1); 
  servoDx.write(speed1); 
} 

void noMotion(){ 
  servoSx.detach(); 
  servoDx.detach(); 
} 
/*
void loop() { //Serial Mode (BT) 
  while(mySerial.available()) { 
  command = mySerial.read(); 
    if (command == 'F') { 
      fdMotion(); 
    } else if (command == 'B') { 
      bkMotion(); 
    } else if (command == 'R') { 
      dxMotion(); 
    } else if (command == 'L') { 
      sxMotion(); 
    } else {
      Serial.println(command); 
      noMotion(); 
    } 
  } 
}
*/

void loop() { //IR mode 
  if (irrecv.decode(&results)) { 
    Serial.println(results.value);  
    if (results.value == 16736925) { 
      fdMotion(); 
    } else if (results.value == 16754775) { 
      bkMotion(); 
    } else if (results.value == 16761405) { 
      dxMotion(); 
    } else if (results.value == 16720605) { 
      sxMotion(); 
    } else if (results.value == 16712445) { 
      noMotion(); 
    }
  
  irrecv.resume(); 
  delay(100); 
  }
  if (proximity()){
    analogWrite(buzzPin, 200); 
  } else {
    analogWrite(buzzPin,0);
  }
} 

/*
void loop() { //echo, photores or just go around randomly 
  int x = 0; 
  fdMotion(); 
  while (x < interval) {
    if(photores()) {
      noMotion();
    } else {
      fdMotion();
    }
    if (proximity()) {
      bkMotion();
      delay(3000);
      sxMotion();
      delay(3000);
    }
    x += 1;
    
  }
} 
*/
bool proximity() { //echo
  long duration; 
  digitalWrite(trigPin,LOW); 
  delayMicroseconds(2); 
  digitalWrite(trigPin,HIGH); 
  delayMicroseconds(5); 
  digitalWrite(trigPin,LOW); 
  duration = pulseIn(pingPin,HIGH); 
  //Serial.print("cm ");
  //Serial.println(duration/29/2);
  if (duration/29/2 < tooClose ) { 
    return true;   
  } else { 
    return false; 
  } 
} 

bool photores() { 
  int sens = analogRead(lightSensor);
  Serial.print("lux: ");
  Serial.println(sens);
  if(sens > lightThreshold) { 
    return true; 
  } else { 
    return false; 
  } 
}