I tried playing around with some values in AVR studio again and I got both servos to go in the same direction and at the same speed. But they still dont respond to the photoresistors. Can anyone look at the code and see why that would be?
This is the code for the photovore_v1
/****************************************************************************
*
* Copyright (c) 2007
www.societyofrobots.com* (please link back if you use this code!)
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* Alternatively, this software may be distributed under the terms of BSD
* license.
*
* Photovore v1, March 10th, 2007
* Simple case-based method for a robot that chases light.
*
*
****************************************************************************/
//SoR Include
#include "SoR_Utils.h" //includes all the technical stuff
int main(void)
{
//declare variables here
//int i=250;//a 'whatever' variable
int sensor_left=3;//left photoresistor
int sensor_right=3;//right photoresistor
int threshold=8;//the larger this number, the more likely your robot will drive straight
/****************INITIALIZATIONS*******************/
//other stuff Im experimenting with for SoR
//uartInit(); // initialize the UART (serial port)
//uartSetBaudRate(9600);// set the baud rate of the UART for our debug/reporting output
//rprintfInit(uartSendByte);// initialize rprintf system
//timerInit(); // initialize the timer system
configure_ports(); // configure which ports are analog, digital, etc.
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
//rprintf("Initialization Complete\r\n");
/**************************************************/
/*********ADD YOUR CODE BELOW THIS LINE **********/
LED_off();//turn LED on
while(1)
{
//store sensor data
sensor_left=a2dConvert8bit(1);
sensor_right=a2dConvert8bit(0);
//detects more light on left side of robot
if(sensor_left > sensor_right && (sensor_left - sensor_right) > threshold)
{//go left
servo_left(44);
servo_right(25);
}
//detects more light on right side of robot
else if(sensor_right > sensor_left && (sensor_right - sensor_left) > threshold)
{//go right
servo_left(25);
servo_right(44);
}
//light is about equal on both sides
else
{//go straight
servo_left(25);
servo_right(25);
}
/* Servo Test Code
i=250;
while(i>0)
{
servo_left(40);
i--;
}
i=250;
while(i>0)
{
servo_left(40);
i--;
}
*/
//rprintf("Initialization Complete\r\n");
//output message to serial (use hyperterminal)
//print("Hello, World! Read My Analog: %u\r\n", sensor_0);
delay_cycles(500);//a small delay to prevent crazy oscillations
}
/*********ADD YOUR CODE ABOVE THIS LINE **********/
return 0;
}
/*********************COMMAND LIST*************************
delay_cycles(cycles);
Delays - you can make your robot wait for a certain amount of time with this function.
Put the number of computational cycles to delay in the ().
23 cycles is about .992 milliseconds
to calculate: 23/.992*(time in milliseconds to delay) = cycles
Check servo datasheet where it says: 'Direction: Clockwise/Pulse Traveling 1500 to 1900usec'
servo_left(speed); and servo_right(speed);
Commands your servos to rotate at a certain speed.
Vary speed (which represents a delay in cycles) from 20 to 50.
Left is for port D0 and right is for port D1.
LED_on(); and LED_off();
Turns on and off your LED. The LED is on port D4.
By bringing port D4 low, you are turning on the LED.
variable=a2dConvert8bit(pin);
Reads analog pin. For example, set 'pin' to 5 to read PC5.
'variable' will store the value.
***********************************************************/
