commit 76d1f2df166c998341f5814656bba8f43fba8d1b
parent 19e9c2872529702d951761702694424f974cb475
Author: thing1 <thing1@seacrossedlovers.xyz>
Date: Sat, 6 Dec 2025 14:01:49 +0000
finished testing on robot
Diffstat:
3 files changed, 169 insertions(+), 24 deletions(-)
diff --git a/CS12020/robot/line/helper.h b/CS12020/robot/line/helper.h
@@ -1,3 +1,5 @@
+#ifndef __HELPER_H_
+#define __HELPER_H_
#include <Servo.h>
#include <stdint.h>
@@ -15,9 +17,10 @@
#define LDRB A1
#define LDRC A0
-#define SERVOA_ZERO 84
-#define SERVOB_ZERO 85
-#define SPEED 10
+uint8_t SERVOA_ZERO = 84;
+uint8_t SERVOB_ZERO = 85;
+uint8_t SPEEDA = 10;
+uint8_t SPEEDB = 10;
#define ANALOG_MAX 1023
@@ -65,11 +68,11 @@ setupRobot() {
void
SEprintf(const char *fmt, ...) {
- static char sbuf[64] = { 0 };
+ char sbuf[256] = { 0 };
va_list ap;
va_start(ap, fmt);
- vsnprintf(sbuf, 64, fmt, ap);
+ vsnprintf(sbuf, 256, fmt, ap);
va_end(ap);
Serial.print(sbuf);
@@ -107,9 +110,11 @@ setLEDs(int g, int y, int r) {
void
waitButton(int pin, int state) {
- while (digitalRead(pin) == state) ;
+ while (digitalRead(pin) != !state) ;
+ delay(50);
+ while (digitalRead(pin) != state) ;
+ delay(50);
}
-
bool
isButtonAPressed() {
return !digitalRead(BUTTONA);
@@ -119,3 +124,4 @@ bool
isButtonBPressed() {
return !digitalRead(BUTTONB);
}
+#endif
+\ No newline at end of file
diff --git a/CS12020/robot/line/line.ino b/CS12020/robot/line/line.ino
@@ -1,15 +1,20 @@
#include <EEPROM.h>
#include "helper.h"
-#define DEBUG_NAH
+#define READING_INTERVAL 300
+
+#include "reading.h"
+
+#define DEBUG
#ifdef DEBUG
-#define DBG(expr) expr;
+ #define DBG(expr) expr;
#else
-#define DBG(expr)
+ #define DBG(expr)
#endif
#define FLASHTIME 256 / 2
+#define TESTREADINGS 10
typedef struct state {
bool left, mid, right; /* is on black */
@@ -20,6 +25,72 @@ typedef struct state {
long gstate, ystate, rstate; /*used to store the time values of the LEDs to turn them off when needed */
} state;
+const char *colors[] = {"white", "black"};
+
+/* these functions are only used for debugging, and do not need to take up memory when not in use */
+#ifdef DEBUG
+ void
+ testLDR()
+ {
+ SEprintf("Testing LDRS\n");
+ for (int i = 0; i < 2; i++) {
+ SEprintf("Please turn on the lights, and place the robot on a %s surface (press button A to continue)\n", colors[i]);
+ waitButton(BUTTONA, HIGH);
+ readSensorsMean(TESTREADINGS);
+
+ SEprintf("Test complete, please turn off the lights (press button A to continue)\n");
+ waitButton(BUTTONA, HIGH);
+ readSensorsMean(TESTREADINGS);
+ }
+ SEprintf("finished testing LDRS, please check the values are expected for lighting conditions\n");
+ }
+
+ void
+ testButton(int pin)
+ {
+ SEprintf("Testing button on pin %d, please press it 10 times in a row\n", pin);
+ for (int i = 0; i < 10; i++) {
+ waitButton(pin, HIGH);
+ SEprintf("Button pressed\n");
+ }
+ SEprintf("Button testing complete, 10 values read, if you did not press the button 10 times, this test failed\n");
+ delay(3);
+ }
+
+ void
+ testServo(Servo s, int speed, int zero)
+ {
+ SEprintf("Testing Servo on pin %d, it will spin for 10 seconds\n");
+ s.write(zero + speed);
+ delay(10000);
+ s.write(zero);
+ SEprintf("Servo test complete, if the servo did not spin for 10 seconds, this test failed\n");
+ }
+
+ void
+ testIR()
+ {
+ int seen = 0;
+
+ SEprintf("Testing IR sensor, please place an object infront of the IR sensor\n");
+ delay(5000);
+ for (int i = 0; i < 10; i++) {
+ if (!isObstacle())
+ SEprintf("Did not detect object\n");
+ else {
+ SEprintf("Detected object\n");
+ seen++;
+ }
+
+ delay(READING_INTERVAL);
+ }
+ if (seen < 8)
+ SEprintf("Only saw the object %d times, test failed\n", seen);
+ else
+ SEprintf("Saw the object %d times, test passed\n", seen);
+ }
+#endif
+
void
flash(int pin, state *s)
{
@@ -37,10 +108,6 @@ stepFlash(int pin)
/* we define this a static to preserve its value across function calls */
static uint8_t flashCount;
- DBG({
- SEprintf("Flashcount: %d\n", flashCount);
- });
-
if (flashCount < FLASHTIME)
digitalWrite(pin, HIGH);
else if (flashCount > FLASHTIME / 2)
@@ -75,8 +142,8 @@ void
stepMove(int dir, state *s)
{
/* move the robot fwd or bwd */
- servoA.write(SERVOA_ZERO + (SPEED * dir));
- servoB.write(SERVOB_ZERO - (SPEED * dir));
+ servoA.write(SERVOA_ZERO + (SPEEDA * dir));
+ servoB.write(SERVOB_ZERO - (SPEEDB * dir));
s->lastmove = millis();
}
@@ -84,8 +151,8 @@ void
stepTurn(int dir, state *s)
{
/* turn the robot lft or rgt */
- servoA.write(SERVOA_ZERO + (SPEED * dir));
- servoB.write(SERVOB_ZERO - (SPEED * -dir));
+ servoA.write(SERVOA_ZERO + (SPEEDA * dir));
+ servoB.write(SERVOB_ZERO - (SPEEDB * -dir));
s->lastturn = millis();
}
@@ -217,18 +284,44 @@ move(state *s)
void
setup()
{
+ /* let the user attach the battery, attaching the battery while code is running caused strange behavior */
delay(3000);
setupRobot();
+ /* read the calibrated values that should be in EEPROM, these values will be made by the calibrate program */
+ EEPROM.get(6, LDRA_SWITCH);
+ EEPROM.get(10, LDRB_SWITCH);
+ EEPROM.get(14, LDRC_SWITCH);
+
+ /* servo speed values */
+ EEPROM.get(0, SERVOA_ZERO);
+ EEPROM.get(1, SPEEDA);
+ EEPROM.get(2, SERVOB_ZERO);
+ EEPROM.get(3, SPEEDB);
+
/* because this is static, I can modify these values to set defaults */
state *s = getState();
s->prevDir = BWD;
s->timeStamp = 0;
- /* read the calibrated values that should be in EEPROM */
- EEPROM.get(6, LDRA_SWITCH);
- EEPROM.get(10, LDRB_SWITCH);
- EEPROM.get(14, LDRC_SWITCH);
+
+ /* test all the sensors and motors */
+ DBG({
+ testLDR();
+ delay(1000);
+ testButton(BUTTONA);
+ delay(1000);
+ testButton(BUTTONB);
+ delay(1000);
+ testServo(servoA, SPEEDA, SERVOA_ZERO);
+ delay(1000);
+ testServo(servoB, SPEEDB, SERVOB_ZERO);
+ delay(1000);
+ testIR();
+ delay(1000);
+ SEprintf("finished testing\n");
+ });
+
}
void
@@ -236,7 +329,7 @@ loop()
{
state *s = getState();
- /* do nothing while there is an obstacle, should flash orange */
+ /* do nothing while there is an obstacle */
while (isObstacle()) {
flash(YELLOW_LED, s);
return;
@@ -251,6 +344,6 @@ loop()
stepMove(FWD, s);
}
- /* don't do any turns when on a the barcode, go straight */
+ /* normal movement */
else move(s);
}
diff --git a/CS12020/robot/line/reading.h b/CS12020/robot/line/reading.h
@@ -0,0 +1,44 @@
+#include "helper.h"
+
+/* READING_INTERVAL should be declared by the caller program before this code is included */
+
+typedef struct reading {
+ int left, mid, right;
+} reading;
+
+reading
+readSensors()
+{
+ return (reading){analogRead(LDRA), analogRead(LDRB), analogRead(LDRC)};
+}
+
+reading
+addreadings(reading r1, reading r2)
+{
+ return (reading){r1.left + r2.left, r1.mid + r2.mid, r1.right + r2.right};
+}
+
+reading
+divreadings(reading r, int n)
+{
+ return (reading){r.left / n, r.mid / n , r.right / n};
+}
+
+reading
+readSensorsMean(int readings)
+{
+ reading rs[readings], r;
+ for (int i = 0; i < readings; i++) {
+ rs[i] = readSensors();
+ delay(READING_INTERVAL);
+ }
+
+ for (int i = 0; i < readings; i++) {
+ SEprintf("single:%d,%d,%d\n", rs[i].left, rs[i].mid, rs[i].right);
+ r = addreadings(r, rs[i]);
+ }
+
+ r = divreadings(r, readings);
+ SEprintf("mean:%d,%d,%d\n", r.left, r.mid, r.right);
+ return r;
+}
+\ No newline at end of file
