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M.A.T.T.ino
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M.A.T.T.ino
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/*
* Author: Patrick Shinn
* Version: 2.0
* Date: 6/4/16
* Vehicle: M.A.T.T
* -------------------------------------------------------------
* # Mechanical Autonomous Treaded Tank
* This program is for a Makeblock Orion Board with two
* DC motors and an ME utlrasonic sensor.
*
* This Program makes the vehicle drive without human intervention.
* The vehicle will drive forward until it is within 30 centimeters.
* of an obstacle. The vehicle will then turn left until it is clear
* of obstacles, then continue to drive straight.
*/
#include "MeOrion.h"
MeUltrasonicSensor ultraSensor(PORT_4); // Distance Sensor that rotates
MeUltrasonicSensor ultraSensor1(PORT_3); // Distance Sensor that is stationary
MeDCMotor motor1(M1); // DC motor 1
MeDCMotor motor2(M2); // DC motor 2
Servo servo; // creates a servo object.
MePort port(PORT_6); // creates an MePort object
int16_t servoPin = port.pin1(); // creates an attachment point for the servo.
void setup() {
// put your setup code here, to run once
// attaches servo
servo.attach(servoPin);
// Buzzer indicating M.A.T.T startup and servo test pass.
}
void loop() {
// put your main code here, to run repeatedly:
for (int i = 0; i < 180; i++){
servo.write(i);
delay(15);
// If either sesnor picks up an object within 15 cm, stop and turn left. Then check for another obstacle.
if((ultraSensor.distanceCm() < 15 && ultraSensor.distanceCm() > 0) || (ultraSensor1.distanceCm() < 15 && ultraSensor1.distanceCm() > 0))
{
motor1.stop();
motor2.stop();
delay(500);
motor1.run(-255);
motor2.run(-255);
delay(500);
motor1.stop();
motor2.stop();
delay(500);
// Otherwise, full speed ahead
}else{
motor1.run(-255);
motor2.run(255);
}
}
for (int i = 180; i > 0; i --){
servo.write(i);
delay(15);
// If either sesnor picks up an object within 15 cm, stop and turn left. Then check for another obstacle.
if((ultraSensor.distanceCm() < 15 && ultraSensor.distanceCm() > 0) || (ultraSensor1.distanceCm() < 15 && ultraSensor1.distanceCm() > 0))
{
motor1.stop();
motor2.stop();
delay(500);
motor1.run(-255);
motor2.run(-255);
delay(500);
motor1.stop();
motor2.stop();
delay(500);
// Otherwise, full speed ahead
}else{
motor1.run(-255);
motor2.run(255);
}
}
}