Society of Robots - Robot Forum
Electronics => Electronics => Topic started by: RoboChan on June 24, 2009, 11:27:50 AM
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Ok i want to build a Stampy like robot. I have 2 DC motors that are very powerful and very Small (from those powerwheels toys). I just want to know is the Duemilanove and the motor shield good for 2 DC motors, a servo, a Sharp IR, and maybe 2 photoresistors. I want is to do what stampy dose but also stay in side a black ring. Can it be programed using arduino or should i use AVR and buy a programmer?
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yep, an arduino can do it...
you could have the sharp ir run admins stampy code while the photoresistors watch for the line,
if line detected, back up for a second and turn or the like.
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Cool. How can i convert the stampy code to arduino code and how do i implement the photoresistors to the code??
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The $50 Robot has my Stampy code (Sharp IR upgrade), which uses the same exact microcontroller as the Arduino.
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Do i have to download the AVR porgrams to veiw the code or is there any stampy code in arduino?
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find the $50 robot sharp ir tutorial, the code is in there.
you may have to get avrstudio...
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i cant open the code. How do i look at the code with AVR? Theres a note pad doc. MAIN.
//www.societyofrobots.com December, 2006
#include "cereb104.h"
#include "Utilities.h"
signed long int scan_angle=0; //angle of IR servo
unsigned int target_distance=0; //distance away of target
unsigned int distance_thresh=30; //acceptable target detection
//sense
void scan()
{
//swap scan directions
/*psuedocode
while object is detected
scan left while object detected
while object not detected
scan right until object detected*/
target_distance = analog(A3);//check sensor
if (target_distance > distance_thresh)//object detected
{
if (scan_angle>-20) //overflow protection
scan_angle-=1;//scan left
}
else //object not detected
{
if (scan_angle<130) //overflow protection
scan_angle+=1; //scan right
else //if scanned all the way, this forces it to start over
scan_angle=-20;
}
//servo scan code
output_bit(PIN_D2, 1);//139 center
long_delay_us(130+scan_angle);
output_bit(PIN_D2, 0);
//printf("angle: %ld distance: %u\r\n", scan_angle, target_distance);//debug code
}
void main() {
//initializing all Cerebellum routines
cereb_init(0);
pwm_init();
//allow short capacitor charge up time
delay_us(5000);
ScanLeft(); //reset IR scanner to straight
//system ready indicator, and start button
set_led(YELLOW, 1);
while(analog(A3) < 100) {printf("%u\r\n", analog(A3));}; //hand swipe to activate robot
set_led(YELLOW, 0);
servoReverse();
while(1)
{
delay_us(2500);//so it doesnt change states too fast //2500 works
scan();//locate target
//movement actions
if (scan_angle > 85)//if target is too far on right
{
servoRight();//turn towards target
set_led(YELLOW, 0);
set_led(GREEN, 1);
scan_angle-=1;//scanner turns left while robot turns right
}
else if (scan_angle < 50)//if target is too far on left
{
servoLeft();//turn towards target
set_led(YELLOW, 1);
set_led(GREEN, 0);
scan_angle+=1;//scanner turns right while robot turns left
}
else //centered on target
{
servoForward();//drive straight
set_led(YELLOW, 1);
set_led(GREEN, 1);
}
}
while(1);
}
//thoughts, try reducing the 5000 delay, maybe doubling negative scan_angle, and reducing turning speedI tryed looking for arduino sumo robot code but i can't find any. Has anyone ever build a sumo robot with arduino??
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http://www.societyofrobots.com/robot_50_robot_sharpIR.shtml (http://www.societyofrobots.com/robot_50_robot_sharpIR.shtml)