Dagu Rover Code

//Modified from the original adafruit source to suit the requirements -  by Kumar – 9th Oct 2015 – Using Adafruit v2 Motorshield/Arduino UNO/Dagu Rover base

#include <Servo.h> // Enables the Servo library
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"

//Using the same Library as **//http://www.instructables.com/id/Arduino-4wd-robot-with-ping-sensor-J-Bot/?ALLSTEPS**
//Modified from the original adafruit source to suit the requirements -  by Kumar – 9th Oct 2015 – Using Adafruit v2 Motorshield/Arduino UNO/Dagu Rover base
//Conversion from 2WD to 4WD and 3 pin Ultrasonic sensor to 4 pin config

// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);

// Select which 'port' M1, M2, M3 or M4. In this case, M1
Adafruit_DCMotor *Frontleft = AFMS.getMotor(1);
Adafruit_DCMotor *Frontright = AFMS.getMotor(2);
Adafruit_DCMotor *Rearleft = AFMS.getMotor(3);
Adafruit_DCMotor *Rearright = AFMS.getMotor(4);

Servo PingServo;

int minSafeDist = 11 ; // Minimum distance for ping sensor to know when to turn

int pingPin = A0; // Ping sensor is connected to port A0

int centerDist, leftDist, rightDist, backDist; // Define variables center, left, right and back distance
long duration, inches, cm; // Define variables for Ping sensor


void setup() {
PingServo.attach(10); // Servo is attached to pin 10 in the motor shield
PingServo.write(90); // Center the Ping sensor (puts it at 90 degrees)

 AFMS.begin();  // create with the default frequency 1.6KHz
  //AFMS.begin(1000);  // OR with a different frequency, say 1KHz

  // Set the speed to start, from 0 (off) to 255 (max speed)
  Frontleft->setSpeed(150);
  Frontright->setSpeed(150);
  Rearleft->setSpeed(150);
  Rearright->setSpeed(150);
  Frontleft->run(FORWARD);
  Frontright->run(FORWARD);
  Rearleft->run(FORWARD);
  Rearright->run(FORWARD);
  // turn on motor
  Frontleft->run(RELEASE);
  Frontright->run(RELEASE);
  Rearleft->run(RELEASE);
  Rearright->run(RELEASE);
}

void loop() {
  uint8_t i;

  Serial.print("tick");
  Frontleft->run(FORWARD);
  Frontright->run(FORWARD);
  Rearleft->run(FORWARD);
  Rearright->run(FORWARD);

  for (i=0; i<255; i++) {
    Frontleft->setSpeed(i);
    Frontright->setSpeed(i);
    Rearleft->setSpeed(i);
    Rearright->setSpeed(i);
    delay(10);
  }
  for (i=255; i!=0; i--) {
    Frontleft->setSpeed(i);
    Frontright->setSpeed(i);
    Rearleft->setSpeed(i);
    Rearright->setSpeed(i);
    delay(10);
  }

  Serial.print("tock");

  Frontleft->run(BACKWARD);
  Frontright->run(BACKWARD);
  Rearleft->run(BACKWARD);
  Rearright->run(BACKWARD);

  for (i=0; i<255; i++) {
    Frontleft->setSpeed(i);
    Frontright->setSpeed(i);
    Rearleft->setSpeed(i);
    Rearright->setSpeed(i);
    delay(10);
  }
  for (i=255; i!=0; i--) {
    Frontleft->setSpeed(i);
    Frontright->setSpeed(i);
    Rearleft->setSpeed(i);
    Rearright->setSpeed(i);
    delay(10);
  }

  Serial.print("tech");
  Frontleft->run(RELEASE);
  Frontright->run(RELEASE);
  Rearleft->run(RELEASE);
  Rearright->run(RELEASE);
  delay(1000);
}