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@scealux

scealux/Chartreuse.ino

Last active May 29, 2019
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Control code for Chartreuse the moving robot
// SERVO
#include <Servo.h>
//NEOPIXELS
#include <Adafruit_NeoPixel.h>
//STEPPER
#include "Stepper_28BYJ_48.h"
#ifdef __AVR__
#include <avr/power.h>
#endif
//set out signal pin
#define PIN 9
Adafruit_NeoPixel strip = Adafruit_NeoPixel(2, PIN, NEO_GRB + NEO_KHZ800);
const int echo = 2;
const int trig = 3;
const int ultrasonicServoPin = 5;
const int ledStatusPin = 7;
const int eyeServoPin = 6;
const int ledPixelPin = 9;
Stepper_28BYJ_48 stepper(10,11,12,13);
Servo ultServo;
Servo eyeServo;
int ultAngle = 90;
int eyeAngle = 90;
int stepperAngle = 90;
long dur;
int dist;
long lastSeen;
void setup() {
pinMode(trig, OUTPUT);
pinMode(echo, INPUT);
pinMode(ledStatusPin, OUTPUT);
ultServo.attach(ultrasonicServoPin); //48deg -> 120
eyeServo.attach(eyeServoPin); //0 -> 180
ultServo.write(90);
eyeServo.write(90);
strip.begin();
strip.show();
Serial.begin(9600); // Starts the serial communication
}
void loop() {
/*
REMOTE CONTROL
int tester = analogRead(0);
int mapper = map(tester,0,1023,0,3);
setEyes(mapper);
if(digitalRead(1) == LOW){
stepper.step(1);
}
if(digitalRead(2) == LOW){
stepper.step(-1);
}
*/
//MOVE SCANNER -> MOVE STEPPER -> MOVE EYES
int lastAngle = ultAngle;
// //ULTRASONIC TRACKING
getDistance();
//Serial.println(dist);
if (dist > 10 && dist < 30){ //30 for testing
//Serial.println("Distance: " + String(dist) + " Angle: " + String(ultAngle));
digitalWrite(ledStatusPin, HIGH);
if (ultAngle < 60){
ultAngle = 60;
}else{
ultAngle-=6;
}
}else{
digitalWrite(ledStatusPin, LOW);
if (ultAngle > 120){
ultAngle = 120;
}else{
ultAngle++;
}
}
if (ultAngle > 50 && ultAngle < 108){
lastSeen = millis();
}
if (lastAngle != ultAngle){
ultServo.write(ultAngle);
}
Serial.println(ultAngle);
delay(1);
//STEPPER ------------------------------------------
stepToDeg(ultAngle);
delay(1);
//EYES ---------------------------------------------
long lastContact = (millis()-lastSeen);
//Serial.println(lastContact);
if (lastContact > 3000 && lastContact < 6000){
setEyes(2);
}else if (lastContact <= 3000){
setEyes(1);
}else{
setEyes(0);
}
}
// -----------------------------------------------------------------------------------------
void stepToDeg(int stepAngle){
if (ultAngle < 121){
int difference = stepperAngle - ultAngle;
int absDifference = abs(difference);
int negDif = -difference*7;
stepper.step(negDif);
stepperAngle = ultAngle;
}
}
void getDistance(){ //TAKES AN ULTRASONIC MEASUREMENT AND RETURNS THE COMPUTED DISTANCE IN CM
// Clears the trigPin
digitalWrite(trig, LOW);
delayMicroseconds(2);
//Sends pulse
digitalWrite(trig, HIGH);
delayMicroseconds(10);
digitalWrite(trig, LOW);
dur = pulseIn(echo, HIGH);
dist = dur*0.034/2;
}
void setEyes(int mode){ //SETS THE ANGLE OF THE EYE SERVO FOR VARIOUS EXPRESSIONS
switch (mode) { //DEFAULT:NEUTRAL 1:HAPPY 2:SAD
case 1: //HAPPY
eyeServo.write(179);
for(uint16_t i=0; i<strip.numPixels(); i++){
strip.setPixelColor(i,255,140,0);
strip.show();
}
break;
case 2: //SAD
eyeServo.write(1);
for(uint16_t i=0; i<strip.numPixels(); i++){
strip.setPixelColor(i,90,90,255);
strip.show();
}
break;
default: //NEUTRAL
eyeServo.write(99);
for(uint16_t i=0; i<strip.numPixels(); i++){
strip.setPixelColor(i,255,200,180);
strip.show();
}
break;
}
}
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