KartBot

// Una's crazed Go-Kart Project, aka, KartBot
// Dual OSMC's controlling a wheelchair base
// Creative Commons License. Written by Brian Gosney 2012

#include <LiquidCrystalFast.h>

LiquidCrystalFast lcd(7,8,9,10,11,12,13);


int readings[100];
byte readingNumber=0;
long averageMe = 0;
int brakeRaw;
int tpsRaw;
byte dutyCycle;
byte brakeLevel;
byte tpsLevel;
boolean motorEnabled= false;

#define disablePin 5
#define leftForward 14
#define leftBackward 24
#define rightForward 15
#define rightBackward 25
#define brakeControl 16
#define throttleSensor 38
#define brakeSensor 39
#define steeringSensor 40 // Not yet implemented - placeholder for now
#define leftMotorTemp 41 // Moving to I2C temp sensors asap.
#define rightMotorTemp 42




void setup() {
  Serial.begin(9600);
  pinMode(disablePin, OUTPUT);
  digitalWrite(disablePin, HIGH); // Go high immediately to prevent twitching on startup. High = disabled.
  pinMode(leftForward, OUTPUT);
  pinMode(leftBackward, OUTPUT);
  pinMode(rightForward, OUTPUT);
  pinMode(rightBackward, OUTPUT);
  pinMode(brakeControl, OUTPUT);
  analogWrite(brakeControl, 255); // Release the brake, PWM mode so we can ease it back on.
/*  lcd.begin(20,4);
  lcd.setCursor(0,0);
  lcd.print(F("Throttle:    %"));
  lcd.setCursor(0,1);
  lcd.print(F("Brake:    %")); */
  pinMode(throttleSensor, INPUT);
  pinMode(brakeSensor, INPUT);
}

void loop() {
//  lcd.setCursor(10,0);
  tpsRaw = analogRead(throttleSensor);
  brakeRaw = analogRead(brakeSensor);
  tpsLevel = map(tpsRaw, 0, 1023, 0, 100);
  brakeLevel = map(brakeRaw, 0, 1023, 0, 100);
/*  lcd.print(tpsLevel);
  lcd.print("%   ");
  lcd.setCursor(7,1);
  lcd.print(brakeLevel);
  lcd.print("%   "); */
  Serial.print("TPS: ");
  Serial.println(tpsLevel);
  if (tpsLevel > 0) {
    if (brakeLevel < 5) {
    // drive the motors
    motorEnabled = true;
    dutyCycle = map(tpsRaw, 0, 1024, 0, 255);
    Serial.print("Duty Cycle ");
    Serial.println(dutyCycle);
    analogWrite(leftForward, dutyCycle);
    analogWrite(rightForward, dutyCycle);
    digitalWrite(disablePin, LOW); // enable the motor controllers
    }
  } else if (motorEnabled) {
    // stop the motors
    motorEnabled = false;
    digitalWrite(disablePin, HIGH);
    analogWrite(leftForward, 0);
    analogWrite(rightForward, 0);

  }

}