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1 | //add RGB ✔ | |
2 | //add Buzzer + POT ✔ | |
3 | //add Ultrasonic ✔ | |
4 | //add LDR | |
5 | //add LEDs | |
6 | //<2✔><3~✔><4✔><5~✔><6~✔><7✔><8✔><9~✔><10~✔><11~✔><12✔><13> | |
7 | //<A0✔><A1><A2><A3><A4✔><A5✔> | |
8 | #include <Wire.h> | |
9 | #include "SparkFun_Qwiic_Joystick_Arduino_Library.h" | |
10 | //If library not found | |
11 | //Click here to get the library: http://librarymanager/All#SparkFun_joystick | |
12 | ||
13 | //RGB LED | |
14 | #define redPin 5 | |
15 | #define greenPin 6 | |
16 | #define bluePin 9 | |
17 | ||
18 | //Buzzer + POT | |
19 | #define buzzerPin 12 | |
20 | ||
21 | //Ultrasonic | |
22 | #define trigPin 7 | |
23 | #define echoPin 8 | |
24 | long duration; | |
25 | int distanceCm, distanceInch; | |
26 | ||
27 | //LDR + LEDs | |
28 | #define ldrPin A0 | |
29 | #define ledPin 10 | |
30 | ||
31 | // Clockwise and counter-clockwise definitions. | |
32 | // This relies on how motors are wired, check and may need to swap. | |
33 | #define FORWARD 0 | |
34 | #define REVERSE 1 | |
35 | ||
36 | // Motor definitions to make life easier: | |
37 | #define MOTOR_A 0 | |
38 | #define MOTOR_B 1 | |
39 | ||
40 | // Pin Assignments // | |
41 | //Default pins: | |
42 | #define DIRA 2 // Direction control for motor A | |
43 | #define PWMA 3 // PWM control (speed) for motor A | |
44 | #define DIRB 4 // Direction control for motor B | |
45 | #define PWMB 11 // PWM control (speed) for motor B | |
46 | ||
47 | ////Alternate pins: | |
48 | //#define DIRA 8 // Direction control for motor A | |
49 | //#define PWMA 9 // PWM control (speed) for motor A | |
50 | //#define DIRB 7 // Direction control for motor B | |
51 | //#define PWMB 10 // PWM control (speed) for motor B | |
52 | ||
53 | int MapXValue = 0; // joystick readings scaled -255 to 255 | |
54 | int MapYValue = 0; // scaled -255 to 255 | |
55 | ||
56 | byte motorSpeed = 0; | |
57 | ||
58 | uint8_t Address = 0x20; //Start address (Default 0x20) | |
59 | ||
60 | JOYSTICK joystick; //Create instance of this object | |
61 | ||
62 | ||
63 | // setupArdumoto initialize all pins | |
64 | void setupArdumoto() | |
65 | { | |
66 | // All pins should be setup as outputs: | |
67 | pinMode(PWMA, OUTPUT); | |
68 | pinMode(PWMB, OUTPUT); | |
69 | pinMode(DIRA, OUTPUT); | |
70 | pinMode(DIRB, OUTPUT); | |
71 | ||
72 | // Initialize all pins as low: | |
73 | digitalWrite(PWMA, LOW); | |
74 | digitalWrite(PWMB, LOW); | |
75 | digitalWrite(DIRA, LOW); | |
76 | digitalWrite(DIRB, LOW); | |
77 | } | |
78 | ||
79 | void setup() | |
80 | { | |
81 | setupArdumoto(); | |
82 | pinMode(redPin, OUTPUT); | |
83 | pinMode(greenPin, OUTPUT); | |
84 | pinMode(bluePin, OUTPUT); | |
85 | pinMode(buzzerPin, OUTPUT); | |
86 | pinMode(trigPin, OUTPUT); | |
87 | pinMode(echoPin, INPUT); | |
88 | pinMode(ledPin, OUTPUT); | |
89 | pinMode(ldrPin, INPUT); | |
90 | digitalWrite(ledPin, 0); | |
91 | Serial.begin(9600); //begin serial communication with the computer | |
92 | //warning: need to open serial monitor or it may wait here | |
93 | ||
94 | if (joystick.begin(Wire, Address) == false) | |
95 | { | |
96 | Serial.println("Joystick does not appear to be connected. Please check wiring. Freezing..."); | |
97 | while (1); | |
98 | } | |
99 | } | |
100 | ||
101 | void loop() | |
102 | { | |
103 | //read analog in pins from joystick Qwiic | |
104 | int Joystick_X = joystick.getHorizontal(); | |
105 | int Joystick_Y = joystick.getVertical(); | |
106 | // | |
107 | //Scale values from joystick to range for motor -255 and 255 --center is 0 | |
108 | MapXValue = map (Joystick_X, 0, 1023, -255, 255); | |
109 | MapYValue = map (Joystick_Y, 0, 1023, -255, 255); | |
110 | // | |
111 | if (analogRead(ldrPin) < 80) { | |
112 | led_ON(); | |
113 | buzzer(); | |
114 | RGBflashing(); | |
115 | distanceM(); | |
116 | if (distanceCm < 25) { | |
117 | digitalWrite(DIRA, REVERSE); | |
118 | digitalWrite(DIRB, REVERSE); | |
119 | delay(2000); | |
120 | } | |
121 | else { | |
122 | Motor_A(MapXValue);//drive the right wheel speed and direction from X | |
123 | Motor_B(MapYValue); //drive the left wheel speed and direction from Y | |
124 | } | |
125 | } | |
126 | else { | |
127 | led_OFF(); | |
128 | buzzer(); | |
129 | RGBflashing(); | |
130 | distanceM(); | |
131 | if (distanceCm < 25) { | |
132 | digitalWrite(DIRA, REVERSE); | |
133 | digitalWrite(DIRB, REVERSE); | |
134 | delay(2000); | |
135 | } | |
136 | else { | |
137 | Motor_A(MapXValue);//drive the right wheel speed and direction from X | |
138 | Motor_B(MapYValue); //drive the left wheel speed and direction from Y | |
139 | } | |
140 | } | |
141 | /* | |
142 | //read analog in pins from joystick Qwiic | |
143 | int Joystick_X = joystick.getHorizontal(); | |
144 | int Joystick_Y = joystick.getVertical(); | |
145 | // | |
146 | //Scale values from joystick to range for motor -255 and 255 --center is 0 | |
147 | MapXValue = map (Joystick_X, 0, 1023, -255, 255); | |
148 | MapYValue = map (Joystick_Y, 0, 1023, -255, 255); | |
149 | // | |
150 | distanceM(); //distanceCm | |
151 | buzzer(); | |
152 | RGBflashing(); | |
153 | led_ON(); | |
154 | led_OFF(); | |
155 | //Output to motor | |
156 | Motor_A(MapXValue);//drive the right wheel speed and direction from X | |
157 | Motor_B(MapYValue); //drive the left wheel speed and direction from Y | |
158 | // | |
159 | Serial.print("X: "); //print to serial monitor the X-coordinates of joystick | |
160 | Serial.print(Joystick_X); | |
161 | Serial.print(" "); | |
162 | Serial.print(MapXValue); | |
163 | ||
164 | Serial.print(" Y: "); //print to serial monitor theY-coordinates of joystick | |
165 | Serial.print(Joystick_Y); | |
166 | Serial.print(" "); | |
167 | Serial.println(MapYValue); | |
168 | */ | |
169 | ||
170 | }// end of loop | |
171 | //functions: | |
172 | void Motor_A(int motorSpeed) //function for driving Motor_A | |
173 | { | |
174 | if (motorSpeed > 0) //if the motor should drive forward (positive speed) | |
175 | { | |
176 | digitalWrite(DIRA, FORWARD); //set pin 2 to high or FORWARD | |
177 | } | |
178 | else if (motorSpeed < 0) //if the motor should drive backwar (negative speed) | |
179 | { | |
180 | digitalWrite(DIRA, REVERSE); //set pin 1 to low or REVERSE | |
181 | } | |
182 | else //if the motor should stop | |
183 | { | |
184 | digitalWrite(DIRA, 0); | |
185 | analogWrite(PWMA, 0); | |
186 | } | |
187 | analogWrite(PWMA, abs(motorSpeed)); //now that the motor direction is set, drive it at the entered Joystick speed | |
188 | } | |
189 | ||
190 | /********************************************************************************/ | |
191 | void Motor_B(int motorSpeed) //function for driving the Motor_B | |
192 | { | |
193 | if (motorSpeed > 0) //if the motor should drive forward (positive speed) | |
194 | { | |
195 | digitalWrite(DIRB, FORWARD); //set pin 1 to high | |
196 | } | |
197 | else if (motorSpeed < 0) //if the motor should drive backward (negative speed) | |
198 | { | |
199 | digitalWrite(DIRB, REVERSE); //set pin 1 to low | |
200 | } | |
201 | else //STOP Motor_B | |
202 | { | |
203 | digitalWrite(DIRB, 0); // STOP motor_B | |
204 | analogWrite(PWMB, 0); | |
205 | } | |
206 | analogWrite(PWMB, abs(motorSpeed)); //now that the motor direction is set, drive it at the entered Joystick speed | |
207 | ||
208 | } | |
209 | ||
210 | void RGBflashing() { | |
211 | setColor(255, 0, 0); // red | |
212 | delay(50); | |
213 | setColor(0, 255, 0); // green | |
214 | delay(50); | |
215 | setColor(0, 0, 255); // blue | |
216 | delay(50); | |
217 | setColor(255, 255, 0); // yellow | |
218 | delay(50); | |
219 | setColor(80, 0, 80); // purple | |
220 | delay(50); | |
221 | setColor(0, 255, 255); // aqua | |
222 | delay(50); | |
223 | } | |
224 | ||
225 | void setColor(int red, int green, int blue) | |
226 | { | |
227 | #ifdef COMMON_ANODE | |
228 | red = 255 - red; | |
229 | green = 255 - green; | |
230 | blue = 255 - blue; | |
231 | #endif | |
232 | analogWrite(redPin, red); | |
233 | analogWrite(greenPin, green); | |
234 | analogWrite(bluePin, blue); | |
235 | } | |
236 | ||
237 | void buzzer() { | |
238 | digitalWrite(buzzerPin, 1); | |
239 | delay(50); | |
240 | digitalWrite(buzzerPin, 0); | |
241 | delay(50); | |
242 | } | |
243 | ||
244 | void distanceM() { | |
245 | digitalWrite(trigPin, LOW); | |
246 | delayMicroseconds(2); | |
247 | digitalWrite(trigPin, HIGH); | |
248 | delayMicroseconds(10); | |
249 | digitalWrite(trigPin, LOW); | |
250 | duration = pulseIn(echoPin, HIGH); | |
251 | distanceCm = duration * 0.0340 / 2; | |
252 | } | |
253 | ||
254 | void led_ON() { | |
255 | digitalWrite(ledPin, 1); | |
256 | } | |
257 | void led_OFF() { | |
258 | digitalWrite(ledPin, 0); | |
259 | } | |
260 |