commit 19e9c2872529702d951761702694424f974cb475
parent b0cbe666ccf9a12ba717329ffccbfc51c5a22d60
Author: thing1 <thing1@seacrossedlovers.xyz>
Date: Sat, 6 Dec 2025 11:58:28 +0000
finished robot code (mostly)
Diffstat:
6 files changed, 128 insertions(+), 109 deletions(-)
diff --git a/CS12020/robot/calibrate/calibrate.ino b/CS12020/robot/calibrate/calibrate.ino
@@ -2,7 +2,7 @@
#include <stdint.h>
#include "helper.h"
-void
+void
setup() {
Serial.begin(9600);
@@ -14,11 +14,23 @@ setup() {
SEprintf("%d, %d, %d", LDRA_SWITCH + 100, LDRB_SWITCH + 100, LDRC_SWITCH + 100);
- writeuint16(LDRA_SWITCH + 100, 6);
- writeuint16(LDRB_SWITCH + 100, 10);
- writeuint16(LDRB_SWITCH + 100, 14);
+ EEPROM.put(6, LDRA_SWITCH + 100);
+ EEPROM.put(10, LDRB_SWITCH + 100);
+ EEPROM.put(14, LDRB_SWITCH + 100);
+
+ SEprintf("expecting to be on white\n");
+ delay(3000);
+ while (!isLDRBright(LDRA)) LDRA_SWITCH++;
+ while (!isLDRBright(LDRB)) LDRB_SWITCH++;
+ while (!isLDRBright(LDRC)) LDRC_SWITCH++;
+
+ SEprintf("%d, %d, %d", LDRA_SWITCH + 100, LDRB_SWITCH + 100, LDRC_SWITCH + 100);
+
+ EEPROM.put(4, LDRA_SWITCH + 100);
+ EEPROM.put(8, LDRB_SWITCH + 100);
+ EEPROM.put(12, LDRB_SWITCH + 100);
}
-void
+void
loop() {
}
diff --git a/CS12020/robot/calibrate/helper.h b/CS12020/robot/calibrate/helper.h
@@ -1,6 +1,5 @@
#include <Servo.h>
#include <stdint.h>
-#include <EEPROM.h>
#define GREEN_LED 7
#define YELLOW_LED 12
@@ -16,8 +15,10 @@
#define LDRB A1
#define LDRC A0
-#define SERVOA_ZERO 96
-#define SERVOB_ZERO 96
+#define SERVOA_ZERO 84
+#define SERVOB_ZERO 85
+#define SPEED 10
+
#define ANALOG_MAX 1023
#define IRTRANSMITTER 3
@@ -25,12 +26,12 @@
#define IRFREQ 38000
+#define SIZE(arr) (sizeof(arr) / sizeof(arr[0]))
+
uint16_t LDRA_SWITCH = 0;
uint16_t LDRB_SWITCH = 0;
uint16_t LDRC_SWITCH = 0;
-#define SIZE(arr) (sizeof(arr) / sizeof(arr[0]))
-
enum DIRECTIONS {
FWD = 1,
BWD = -1,
@@ -41,49 +42,28 @@ enum DIRECTIONS {
Servo servoA;
Servo servoB;
-void
+void
setupRobot() {
- Serial.begin(9600);
- pinMode(GREEN_LED, OUTPUT);
- pinMode(YELLOW_LED, OUTPUT);
- pinMode(RED_LED, OUTPUT);
- pinMode(BUTTONA, INPUT);
+ Serial.begin(9600);
+ pinMode(GREEN_LED, OUTPUT);
+ pinMode(YELLOW_LED, OUTPUT);
+ pinMode(RED_LED, OUTPUT);
+ pinMode(BUTTONA, INPUT);
pinMode(BUTTONB, INPUT);
- pinMode(SERVOA_PIN, OUTPUT);
+ pinMode(SERVOA_PIN, OUTPUT);
pinMode(SERVOB_PIN, OUTPUT);
pinMode(LDRA, INPUT);
pinMode(LDRB, INPUT);
pinMode(LDRC, INPUT);
pinMode(IRTRANSMITTER, OUTPUT);
pinMode(IRRECEVIER, INPUT);
- servoA.attach(SERVOA_PIN);
- servoB.attach(SERVOB_PIN);
+ servoA.attach(SERVOA_PIN);
+ servoB.attach(SERVOB_PIN);
servoA.write(SERVOA_ZERO);
servoB.write(SERVOB_ZERO);
}
void
-writeuint16(uint16_t num, int start) {
- uint8_t n[2] = {0};
- memcpy(n, &num, 2);
-
- EEPROM.update(start, n[0]);
- EEPROM.update(start + 1, n[1]);
-}
-
-uint16_t
-readuint16(int start) {
- uint8_t n[2] = {0};
- uint16_t num = 0;
-
- n[0] = EEPROM.read(start);
- n[1] = EEPROM.read(start + 1);
-
- memcpy(&num, n, 2);
- return num;
-}
-
-void
SEprintf(const char *fmt, ...) {
static char sbuf[64] = { 0 };
va_list ap;
@@ -99,6 +79,7 @@ SEprintf(const char *fmt, ...) {
bool
isObstacle() {
tone(IRTRANSMITTER, IRFREQ);
+ delay(5);
bool ret = (digitalRead(IRRECEVIER) == LOW);
noTone(IRTRANSMITTER);
return ret;
@@ -129,24 +110,6 @@ waitButton(int pin, int state) {
while (digitalRead(pin) == state) ;
}
-void
-stepMove(int dir) {
- servoA.write(SERVOA_ZERO + (6 * dir));
- servoB.write(SERVOB_ZERO - (6 * dir));
- delay(10);
- servoA.write(SERVOA_ZERO);
- servoB.write(SERVOB_ZERO);
-}
-
-void
-stepTurn(int dir) {
- servoA.write(SERVOA_ZERO + (10 * dir));
- servoB.write(SERVOB_ZERO - (10 * -dir));
- delay(10);
- servoA.write(SERVOA_ZERO);
- servoB.write(SERVOB_ZERO);
-}
-
bool
isButtonAPressed() {
return !digitalRead(BUTTONA);
diff --git a/CS12020/robot/line/checklist b/CS12020/robot/line/checklist
@@ -0,0 +1,24 @@
+calibrate
+=======
+- [x] read white
+- [x] read black
+
+main program
+===========
+- [x] follow line
+- [x] stop when object
+ - [x] yellow LED
+- [x] avoidance
+ - [x] red LED
+- [x] attraction
+ - [x] green LED
+- [ ] EEPROM
+ - [x] LDR black values
+ - [x] LDR white values
+ - [ ] motor values
+- [ ] Testing
+ - [ ] buttons
+ - [ ] LEDS
+ - [ ] LDRS
+ - [ ] Servo debug msgs
+ - [ ] function
+\ No newline at end of file
diff --git a/CS12020/robot/line/helper.h b/CS12020/robot/line/helper.h
@@ -1,6 +1,5 @@
#include <Servo.h>
#include <stdint.h>
-#include <EEPROM.h>
#define GREEN_LED 7
#define YELLOW_LED 12
@@ -64,28 +63,6 @@ setupRobot() {
servoB.write(SERVOB_ZERO);
}
-
-void
-writeuint16(uint16_t num, int start) {
- uint8_t n[2] = {0};
- memcpy(n, &num, 2);
-
- EEPROM.update(start, n[0]);
- EEPROM.update(start + 1, n[1]);
-}
-
-uint16_t
-readuint16(int start) {
- uint8_t n[2] = {0};
- uint16_t num = 0;
-
- n[0] = EEPROM.read(start);
- n[1] = EEPROM.read(start + 1);
-
- memcpy(&num, n, 2);
- return num;
-}
-
void
SEprintf(const char *fmt, ...) {
static char sbuf[64] = { 0 };
diff --git a/CS12020/robot/line/line.ino b/CS12020/robot/line/line.ino
@@ -1,3 +1,4 @@
+#include <EEPROM.h>
#include "helper.h"
#define DEBUG_NAH
@@ -11,16 +12,18 @@
#define FLASHTIME 256 / 2
typedef struct state {
- bool left, mid, right;
- int rawleft, rawmid, rawright;
- enum DIRECTIONS prevDir;
- long timeStamp;
- long lastmove, lastturn;
- long gstate, ystate, rstate;
+ bool left, mid, right; /* is on black */
+ int rawleft, rawmid, rawright; /* raw readings from LDRS */
+ enum DIRECTIONS prevDir; /* enum to store which direction we moved in last, used to error correct */
+ long timeStamp; /* barcode timestamp, used to see how long it has been since we went over a barcode */
+ long lastmove, lastturn; /* time the last stepmove call was made, used to turn the motor off when we stop calling the functions */
+ long gstate, ystate, rstate; /*used to store the time values of the LEDs to turn them off when needed */
} state;
void
-flash(int pin, state *s) {
+flash(int pin, state *s)
+{
+ /* user facing function to start flashing of the LEDs */
switch (pin) {
case GREEN_LED: s->gstate = millis(); break;
case YELLOW_LED: s->ystate = millis(); break;
@@ -29,7 +32,9 @@ flash(int pin, state *s) {
}
void
-stepFlash(int pin) {
+stepFlash(int pin)
+{
+ /* we define this a static to preserve its value across function calls */
static uint8_t flashCount;
DBG({
@@ -40,11 +45,15 @@ stepFlash(int pin) {
digitalWrite(pin, HIGH);
else if (flashCount > FLASHTIME / 2)
digitalWrite(pin, LOW);
+
+ /* this value wraps which is by design, this will cause the flashing to reset */
flashCount++;
}
void
-updateFlash(state *s) {
+updateFlash(state *s)
+{
+ /* turn off the leds if they arent ment to be on anymore */
if (millis() - s->gstate > FLASHTIME) {
s->gstate = 0;
digitalWrite(GREEN_LED, LOW);
@@ -56,27 +65,34 @@ updateFlash(state *s) {
digitalWrite(RED_LED, LOW);
}
+ /* turn on the leds if needed */
if (s->gstate) stepFlash(GREEN_LED);
if (s->ystate) stepFlash(YELLOW_LED);
if (s->rstate) stepFlash(RED_LED);
}
void
-stepMove(int dir, state *s) {
+stepMove(int dir, state *s)
+{
+ /* move the robot fwd or bwd */
servoA.write(SERVOA_ZERO + (SPEED * dir));
servoB.write(SERVOB_ZERO - (SPEED * dir));
s->lastmove = millis();
}
void
-stepTurn(int dir, state *s) {
+stepTurn(int dir, state *s)
+{
+ /* turn the robot lft or rgt */
servoA.write(SERVOA_ZERO + (SPEED * dir));
servoB.write(SERVOB_ZERO - (SPEED * -dir));
s->lastturn = millis();
}
void
-updateMotor(state *s) {
+updateMotor(state *s)
+{
+ /* turns of the motor if we hacent called step move/turn recently */
if (millis() - s->lastmove > 10 && millis() - s->lastturn) {
servoA.write(SERVOA_ZERO);
servoB.write(SERVOB_ZERO);
@@ -84,8 +100,11 @@ updateMotor(state *s) {
}
state *
-getState() {
+getState()
+{
static state s;
+
+ /* update all of the robots LDR readings */
s.left = !isLDRBright(LDRA);
s.mid = !isLDRBright(LDRB);
s.right = !isLDRBright(LDRC);
@@ -100,7 +119,8 @@ getState() {
}
void
-stepAvoidanceBehave(state *s) {
+stepAvoidanceBehave(state *s)
+{
flash(RED_LED, s);
DBG({
/* WARNING this causes the program to stutter when left on,
@@ -120,7 +140,8 @@ stepAvoidanceBehave(state *s) {
void
-stepAttractionBehave(state *s) {
+stepAttractionBehave(state *s)
+{
flash(GREEN_LED, s);
DBG({
SEprintf("Attract: %d, %d, %d\n", s->rawleft, s->rawmid, s->rawright);
@@ -137,7 +158,8 @@ stepAttractionBehave(state *s) {
}
void
-runBehave(void (*stepBehave)(state *)) {
+runBehave(void (*stepBehave)(state *))
+{
while (true) {
state *s = getState();
stepBehave(s);
@@ -145,7 +167,8 @@ runBehave(void (*stepBehave)(state *)) {
}
void
-checkBarcode(state *s) {
+checkBarcode(state *s)
+{
long t = millis();
if (s->timeStamp > 500) {
/* long barcode */
@@ -159,21 +182,23 @@ checkBarcode(state *s) {
s->timeStamp = t;
}
+/* TODO check if dirs are correct */
void
-move(state *s) {
+move(state *s)
+{
/* small adjustments */
if (s->right && s->mid)
- stepTurn(RGT,s);
+ stepTurn(RGT, s);
else if (s->left && s->mid)
- stepTurn(LFT,s);
+ stepTurn(LFT, s);
/* large adjustments */
else if (s->right) {
s->prevDir = LFT;
- stepTurn(RGT,s);
+ stepTurn(RGT, s);
} else if (s->left) {
s->prevDir = RGT;
- stepTurn(LFT,s);
+ stepTurn(LFT, s);
/* drive straight, nominal */
} else if (s->mid) {
@@ -190,7 +215,8 @@ move(state *s) {
}
void
-setup() {
+setup()
+{
delay(3000);
setupRobot();
@@ -199,13 +225,15 @@ setup() {
s->prevDir = BWD;
s->timeStamp = 0;
- LDRA_SWITCH = readuint16(6);
- LDRB_SWITCH = readuint16(10);
- LDRC_SWITCH = readuint16(14);
+ /* read the calibrated values that should be in EEPROM */
+ EEPROM.get(6, LDRA_SWITCH);
+ EEPROM.get(10, LDRB_SWITCH);
+ EEPROM.get(14, LDRC_SWITCH);
}
void
-loop() {
+loop()
+{
state *s = getState();
/* do nothing while there is an obstacle, should flash orange */
@@ -214,13 +242,15 @@ loop() {
return;
}
-
+ /* the robots on a barcode */
if (s->right && s->left && s->mid) {
checkBarcode(s);
+
/* run through the barcode */
for (int i = 0; i < 20; i++)
stepMove(FWD, s);
}
+
/* don't do any turns when on a the barcode, go straight */
else move(s);
}
diff --git a/PH16210/04.12.25.md b/PH16210/04.12.25.md
@@ -0,0 +1,12 @@
+04/12/25
+========
+
+- see FIG1 for an diagram that shows a linear constant coff ODE
+ - see FIG2 for the general solution to this when u(t) is 0
+
+- FIG3 shows the results of the charateristic equation
+ - note on solution II there is only one value of lambda
+ - III is using imaginary values
+
+- FIG4 shows the general solution
+
