reel-withMaster

v24.ino

#include <Servo.h>
#include <Wire.h>

Servo sbehind;
Servo sfright;
Servo sfleft;

byte balltarget;

int ledshooter = 2;
int ledtarget = 7;
int myPlayer=3;
int devicePlayer = 11;

int motorright_A=12;
int motorright_B=9;
int motorleft_A=13;
int motorleft_B=8;

int motorright_Speed=3;
int motorleft_Speed=11;

int senfront=A3;
int senback=A2;

bool ballbesitz = false;

byte statusPlayer = 0; //-1 = nicht bereit, 1 = bereit, 2 = target, 3 = shooterSensor, 4 = shoot

void setup() {

  balltarget = 8;

  Wire.begin(devicePlayer);                 // join i2c bus with address #11
  Wire.onRequest(requestEvent);   // register request event
  Wire.onReceive(receiveEvent);   // register receive event

  Serial.begin(9600);
  
  //Setup Motor Rechts
  pinMode(motorright_A, OUTPUT);  //Initiates Motor Channel A pin
  pinMode(motorright_B, OUTPUT);  //Initiates Brake Channel B pin

  //Setup Motor Links
  pinMode(motorleft_A, OUTPUT);   //Initiates Motor Channel A pin
  pinMode(motorleft_B, OUTPUT);   //Initiates Brake Channel B pin

  pinMode(ledshooter, OUTPUT);    //Initiates the green led as shooter led
  pinMode(ledtarget, OUTPUT);     //Initiates the red led as target led

  sbehind.attach(10);             //Initiates the servo in the back
  sfright.attach(5);              //Initiates the servo on the right front (seen from behind)
  sfleft.attach(6);               //Initiates the servo on the left front (seen from behind) 
}

void loop(){

  int sensorWert = analogRead(senfront);
  if (analogRead(senfront) >=550) {
    ballbesitz = true;
  } else {
    ballbesitz = false;
  }

  // ICH BIN BEREIT
  if (balltarget != myPlayer && statusPlayer == 0){
    Serial.println("ICH BIN BEREIT");  
    analogWrite(motorright_Speed, 0);   //Spins the motor on Channel A at full speed
    analogWrite(motorleft_Speed, 0);    //Spins the motor on Channel B at half speed         
    
    digitalWrite(motorright_B, HIGH);  //Engage the Brake for Motor Rechts
    digitalWrite(motorleft_B, HIGH);  //Engage the Brake for Motor Links

    digitalWrite(ledshooter, LOW);
    digitalWrite(ledtarget, LOW);
  
    sbehind.write(135);
    sfright.write(50);
    sfleft.write(120); 
  
    statusPlayer = 1;
    requestEvent();
    Serial.print("StatusPlayer: ");
    Serial.println(statusPlayer); 

    
  Serial.println(sensorWert);   
  }

  // ICH BIN DAS ZIEL (BALLTARGET)
  if (balltarget == myPlayer && statusPlayer == 1){
    Serial.println("ICH BIN DAS ZIEL: ");
    Serial.println(balltarget);
    digitalWrite(ledshooter, LOW);
    digitalWrite(ledtarget, HIGH);
    
    statusPlayer = 2;
    requestEvent(); 
    Serial.print("statusPlayer: ");
    Serial.println(statusPlayer);
      Serial.println(sensorWert);
  }
  
  // ICH WURDE NICHT GETROFFEN
  if (balltarget != myPlayer && statusPlayer == 2){
    Serial.print("NICHT GETROFFEN: ");
    Serial.println(balltarget);
      Serial.println(sensorWert);
    for (int i=0; i <= 4; i++){
      digitalWrite(ledtarget, HIGH);
      delay(100);
      digitalWrite(ledtarget, LOW);
      delay(100);
    }   
    statusPlayer = 0;
    requestEvent(); 
  }

  // ICH BIN SHOOTER

  int sensorStartzeit = millis();
  while (ballbesitz == true && statusPlayer < 3) {

    if (analogRead(senfront) >= 550) {
      ballbesitz = true;
    } else {
      ballbesitz = false;
    }

    //Serial.print("Ballbesitz: ");
    //Serial.println(ballbesitz);
    //Serial.println(getAbstand());

    if (millis() - sensorStartzeit > 4000 && ballbesitz == true) {

    Serial.print("statusPlayer: ");
    Serial.println(statusPlayer);
    digitalWrite(ledshooter, HIGH);
    digitalWrite(ledtarget, LOW);
    Serial.print("statusPlayer: ");
    Serial.println(statusPlayer);
      Serial.println(sensorWert);
    
    statusPlayer = 3;
    requestEvent();
    statusPlayer = 4;
  }}

  // ICH SCHIESSE
  if (statusPlayer == 4) {
    balltoback();
    delay(100);
    Serial.println(senfront);
    if(analogRead(senback) >= 500){  
     Serial.println(sensorWert);
    switch (balltarget) {
      case 0: //nach links hinten

        sfright.write(100);
        delay(50);
    
        //Motor A forward @ high speed
        digitalWrite(motorright_A, LOW); //Establishes forward direction of Channel A
        digitalWrite(motorright_B, LOW);   //Disengage the Brake for Channel A
        analogWrite(motorright_Speed, 90);   //Spins the motor on Channel A at full speed

        //Motor B backward @ high speed
        digitalWrite(motorleft_A, HIGH);  //Establishes backward direction of Channel B
        digitalWrite(motorleft_B, LOW);   //Disengage the Brake for Channel B
        analogWrite(motorleft_Speed, 70);    //Spins the motor on Channel B at half speed
        delay(500);

        sbehind.write(115);
        delay(700);
        digitalWrite(motorright_B, HIGH);  //Engage the Brake for Motor Rechts
        digitalWrite(motorleft_B, HIGH);  //Engage the Brake for Motor Links
        delay(250);          
          break;
        
      case 1: //nach rechts hinten

        sfleft.write(70);
        delay(50);
    
        //Motor A forward @ low speed
        digitalWrite(motorright_A, LOW); //Establishes forward direction of Channel A
        digitalWrite(motorright_B, LOW);   //Disengage the Brake for Channel A
        analogWrite(motorright_Speed, 115);   //Spins the motor on Channel A at full speed

        //Motor B backward @ low speed
        digitalWrite(motorleft_A, HIGH);  //Establishes backward direction of Channel B
        digitalWrite(motorleft_B, LOW);   //Disengage the Brake for Channel B
        analogWrite(motorleft_Speed, 85);    //Spins the motor on Channel B at half speed
        delay(500);

        sbehind.write(115);
        delay(700);
        digitalWrite(motorright_B, HIGH);  //Engage the Brake for Motor Rechts
        digitalWrite(motorleft_B, HIGH);  //Engage the Brake for Motor Links
        delay(250);    
          break;     

      case 2: //nach rechts vorne

        sfleft.write(70);
        delay(50);
    
        //Motor A forward @ low speed
        digitalWrite(motorright_A, LOW); //Establishes forward direction of Channel A
        digitalWrite(motorright_B, LOW);   //Disengage the Brake for Channel A
        analogWrite(motorright_Speed, 70);   //Spins the motor on Channel A at full speed

        //Motor B backward @ low speed
        digitalWrite(motorleft_A, HIGH);  //Establishes backward direction of Channel B
        digitalWrite(motorleft_B, LOW);   //Disengage the Brake for Channel B
        analogWrite(motorleft_Speed, 55);    //Spins the motor on Channel B at half speed
        delay(500);

        sbehind.write(115);
        delay(700);
        digitalWrite(motorright_B, HIGH);  //Engage the Brake for Motor Rechts
        digitalWrite(motorleft_B, HIGH);  //Engage the Brake for Motor Links
        delay(250);         
          break;
      
      case 4: //nach links vorne

        sfright.write(100);
        delay(50);
    
        //Motor A forward @ low speed
        digitalWrite(motorright_A, LOW); //Establishes forward direction of Channel A
        digitalWrite(motorright_B, LOW);   //Disengage the Brake for Channel A
        analogWrite(motorright_Speed, 60);   //Spins the motor on Channel A at full speed

        //Motor B backward @ low speed
        digitalWrite(motorleft_A, HIGH);  //Establishes backward direction of Channel B
        digitalWrite(motorleft_B, LOW);   //Disengage the Brake for Channel B
        analogWrite(motorleft_Speed, 70);    //Spins the motor on Channel B at half speed
        delay(700);

        sbehind.write(115);
        delay(500);
        digitalWrite(motorright_B, HIGH);  //Engage the Brake for Motor Rechts
        digitalWrite(motorleft_B, HIGH);  //Engage the Brake for Motor Links
        delay(250);     
          break;          
                  
      default: 

        sbehind.write(80);
        sfright.write(50);
        sfleft.write(120);

        analogWrite(motorright_Speed, 0);   //Spins the motor on Channel A at full speed
        analogWrite(motorleft_Speed, 0);    //Spins the motor on Channel B at half speed         
    
        digitalWrite(motorright_B, HIGH);  //Engage the Brake for Motor Rechts
        digitalWrite(motorleft_B, HIGH);  //Engage the Brake for Motor Links
        delay(500);
          break;      
    }
    Serial.println("I shot."); 
    statusPlayer = 0;
    delay(3000);
    }else if(analogRead(senfront) <= 500 && analogRead(senback) <= 500){
    statusPlayer = 0;
      Serial.println(sensorWert);   
    }else{
      balltoback();
      delay(100);
      Serial.println(sensorWert);
    }
  }
}

void requestEvent() {
  Wire.write(statusPlayer); // respond with variable ballinmachine (0 if noball 1 if ballinmachine)
  delay (50);
}

void receiveEvent(int howMany) {
  while (Wire.available()) {
    balltarget = Wire.read();
    Serial.print("Receive target: ");
    Serial.println(balltarget);
  }
}

void balltoback(){
  //Ball to back
  sbehind.write(135);
  delay(250);
    
  //Motor A backward @ low speed
  digitalWrite(motorright_A, HIGH); //Establishes backward direction of Channel A
  digitalWrite(motorright_B, LOW);   //Disengage the Brake for Channel B
  analogWrite(motorright_Speed, 60);   //Spins the motor on Channel A at low speed

  //Motor B backward @ low speed
  digitalWrite(motorleft_A, LOW);  //Establishes backward direction of Channel B
  digitalWrite(motorleft_B, LOW);   //Disengage the Brake for Channel B
  analogWrite(motorleft_Speed, 60);    //Spins the motor on Channel B at low speed 

  sbehind.write(80);
  delay(2000);

  analogWrite(motorright_Speed, 0);   //Spins the motor on Channel A at full speed
  analogWrite(motorleft_Speed, 0);    //Spins the motor on Channel B at half speed         
    
  digitalWrite(motorright_B, HIGH);  //Engage the Brake for Motor Rechts
  digitalWrite(motorleft_B, HIGH);  //Engage the Brake for Motor Links
  delay(1000); 
}