RobotRescue

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1/* Robot Rescue
2
3 In this example, the robot enters the line following mode and
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5 plays some music until it reaches its target. Once it finds the
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7 target, it pushes it out of the track. It then returns to the
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9 track and looks for a second target.
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11 You can make the robot push as many objects as you want to, just
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13 add more to calls to the rescue function or even move that code
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15 into the loop.
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17 Circuit:
18
19 * Arduino Robot
20
21 * some objects for the robot to push
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23 * a line-following circuit
24
25 created 1 May 2013
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27 by X. Yang
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29 modified 12 May 2013
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31 by D. Cuartielles
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33 This example is in the public domain
34
35 */
36
37#include <ArduinoRobot.h> // include the robot library
38#include <Wire.h>
39
40void setup() {
41
42  // initialize the Robot, SD card, display, and speaker
43
44  Robot.begin();
45
46  Robot.beginTFT();
47
48  Robot.beginSD();
49
50  Robot.beginSpeaker();
51
52  // draw "lg0.bmp" and "lg1.bmp" on the screen
53
54  Robot.displayLogos();
55
56  // display the line following instructional image from the SD card
57
58  Robot.drawBMP("lf.bmp", 0, 0);
59
60  // play the chase music file
61
62  Robot.playFile("chase.sqm");
63
64  // add the instructions
65
66  Robot.text("Rescue\n\n place the robot on\n the rescue track\n pushing the\n obstacles away", 5, 5);
67
68  Robot.text("Press the middle\n button to start...", 5, 61);
69
70  Robot.waitContinue();
71
72  // start
73
74  Robot.fill(255, 255, 255);
75
76  Robot.stroke(255, 255, 255);
77
78  Robot.rect(0, 0, 128, 80); // erase the previous text
79
80  Robot.stroke(0, 0, 0);
81
82  Robot.text("Start", 5, 5);
83
84  // use this to calibrate the line following algorithm
85
86  // uncomment one or the other to see the different behaviors of the robot
87
88  // Robot.lineFollowConfig(14, 9, 50, 10);
89
90  Robot.lineFollowConfig(11, 7, 60, 5);
91
92  // run the rescue sequence
93
94  rescueSequence();
95
96  // find the track again
97
98  goToNext();
99
100  // run the rescue sequence a second time
101
102  rescueSequence();
103
104  // here you could go on ...
105
106}
107
108void loop() {
109
110  //nothing here, the program only runs once.
111}
112
113// run the sequence
114void rescueSequence() {
115
116  //set the motor board into line-follow mode
117
118  Robot.setMode(MODE_LINE_FOLLOW);
119
120  while (!Robot.isActionDone()) { // wait until it is no longer following the line
121
122  }
123
124  delay(1000);
125
126  // do the rescue operation
127
128  doRescue();
129
130  delay(1000);
131}
132
133void doRescue() {
134
135  // Reached the endline, engage the target
136
137  Robot.motorsWrite(200, 200);
138
139  delay(250);
140
141  Robot.motorsStop();
142
143  delay(1000);
144
145  // Turn the robot
146
147  Robot.turn(90);
148
149  Robot.motorsStop();
150
151  delay(1000);
152
153  // Move forward
154
155  Robot.motorsWrite(200, 200);
156
157  delay(500);
158
159  Robot.motorsStop();
160
161  delay(1000);
162
163  // move backwards, leave the target
164
165  Robot.motorsWrite(-200, -200);
166
167  delay(500);
168
169  Robot.motorsStop();
170}
171
172void goToNext() {
173
174  // Turn the robot
175
176  Robot.turn(-90);
177
178  Robot.motorsStop();
179
180  delay(1000);
181}