Robot Programming
Robot Programming
I need help to do this. This is the task that my teacher gave but i really cant do it. Tried with node.js, arduino and much more. Try to read it too but still hard. I hope someone can solve this and teach me how to do it because i also need to explain and present it to my teacher how i got the solution.
Here are the question and the code:
The question is:
1. Draw and explain the path of the line follower robot at Diagram 1 according to the programming in Diagram 2.
2. Explain each section of the programming in Diagram 2 according to your understanding.
the diagram 2 is:
here the document of the assignment
Here are the question and the code:
Code:
int motorLeft = 9; int motorRight = 10;
int calibrateLED = 13; int mid = 0;
int mn = 0; int mx = 0;
void setup()
{
pinMode(calibrateLED, OUTPUT); digitalWrite(calibrateLED, LOW); pinMode(motorLeft, OUTPUT); pinMode(motorRight, OUTPUT); digitalWrite(MotorLeft, LOW); digitalWrite(MotorRight, LOW);
for(int i=0; i<5000; i++)
{
digitalWrite(calibrateLED, HIGH);
int val = 0;
for(int j=0; j<=4; j++)
{
val = analogRead(j); if(val >= mx)
mx = val; if(val <= mn) mn = val;
}
delay(1);
}
mid = ((mx + mn)/2); digitalWrite(calibrateLED, LOW);
}
void loop()
{
while(!DetectRightLine)
forward();
turnRight();
while(!DetectRightLine)
forward();
turnRight();
while(!DetectLeftLine)
forward();
turnLeft();
while(!DetectLeftLine)
forward();
turnLeft();
while(!DetectRightLine)
forward();
turnRight();
while(!DetectLeftLine)
forward();
turnLeft();
while(!DetectLeftLine)
forward();
turnLeft();
while(!DetectRightLine)
forward();
turnRight();
while(!DetectRightLine)
forward();
turnRight();
while(!DetectLeftLine)
forward();
turnLeft();
while(!DetectRightLine)
forward();
turnRight();
while(!DetectLeftLine)
forward();
turnLeft();
while(!DetectAllSensor)
forward();
digitalWrite(motorLeft,LOW);
digitalWrite(motorRight,LOW);
while(true);
}
boolean DetectLeftLine()
{
int LeftSideSensor = 0; LeftSideSensor = analogRead(3);
if(LeftSideSensor > mid) return true;
else
return false;
}
boolean DetectRightLine()
{
int RightSideSensor = 0; RightSideSensor = analogRead(4);
if(RightSideSensor > mid) return true;
else
return false;
}
boolean DetectAllSensor()
{
int frontSensorLeft = 0; int frontSensorMiddle = 0; int frontSensorRight = 0; int LeftSideSensor = 0;
int RightSideSensor = 0; frontSensorLeft = analogRead(0); frontSensorMiddle = analogRead(1); frontSensorRight = analogRead(2); LeftSideSensor = analogRead(3); RightSideSensor = analogRead(4);
if(frontSensorLeft > mid && frontSensorMiddle > mid && frontSensorRight > mid && LeftSideSensor > mid && RightSideSensor > mid)
return true;
else
return false;
}
void forward()
{
int frontSensorLeft = 0; int frontSensorMiddle = 0; int frontSensorRight = 0;
frontSensorLeft = analogRead(0); frontSensorMiddle = analogRead(1); frontSensorRight = analogRead(2);
if(frontSensorMiddle > mid)
{
digitalWrite(motorLeft, HIGH); digitalWrite(motorRight, HIGH);
}
else if(frontSensorLeft > mid && frontSensorRight < mid)
{
digitalWrite(motorLeft, LOW); digitalWrite(motorRight, HIGH);
}
else if(frontSensorLeft < mid && frontSensorRight > mid)
{
digitalWrite(motorLeft, HIGH); digitalWrite(motorRight, LOW);
}
else
{
digitalWrite(motorLeft, HIGH); digitalWrite(motorRight, HIGH);
}
}
void turnLeft()
{
int frontSensorLeft = 0; int frontSensorMiddle = 0; int frontSensorRight = 0;
frontSensorLeft = analogRead(0); frontSensorMiddle = analogRead(1); frontSensorRight = analogRead(2);
digitalWrite(motorLeft, LOW); digitalWrite(motorRight, HIGH);
while(frontSensorLeft > mid || frontSensorMiddle > mid || frontSensorRight > mid); while(frontSensorMiddle < mid);
digitalWrite(motorLeft, LOW); digitalWrite(motorRight, LOW);
}
void turnRight()
{
int frontSensorLeft = 0; int frontSensorMiddle = 0; int frontSensorRight = 0;
frontSensorLeft = analogRead(0); frontSensorMiddle = analogRead(1); frontSensorRight = analogRead(2);
digitalWrite(motorLeft, HIGH); digitalWrite(motorRight, LOW);
while(frontSensorLeft > mid || frontSensorMiddle > mid || frontSensorRight > mid); while(frontSensorMiddle < mid);
digitalWrite(motorLeft, LOW); digitalWrite(motorRight, LOW);
}
1. Draw and explain the path of the line follower robot at Diagram 1 according to the programming in Diagram 2.
2. Explain each section of the programming in Diagram 2 according to your understanding.
the diagram 2 is:
here the document of the assignment