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phatedphated
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everything for stewart, max and jac
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4 files changed

+186
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‎GOPR0001.JPG

4.99 MB
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‎LEDhackPHX.ino

+88
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int time = 100;
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void setup()
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{
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pinMode(13, OUTPUT);
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pinMode(12, OUTPUT);
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pinMode(11, OUTPUT);
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pinMode(10, OUTPUT);
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pinMode(9, OUTPUT);
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pinMode(8, OUTPUT);
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pinMode(7, OUTPUT);
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pinMode(6, OUTPUT);
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pinMode(5, OUTPUT);
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pinMode(4, OUTPUT);
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pinMode(3, OUTPUT);
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pinMode(2, OUTPUT);
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pinMode(A0, OUTPUT);
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pinMode(A1, OUTPUT);
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pinMode(A2, OUTPUT);
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pinMode(A3, OUTPUT);
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}
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void loop()
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{
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digitalWrite(13, HIGH);
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delay(time);
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digitalWrite(13, LOW);
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delay(time);
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digitalWrite(12, HIGH);
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delay(time);
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digitalWrite(12, LOW);
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delay(time);
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digitalWrite(11, HIGH);
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delay(time);
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digitalWrite(11, LOW);
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delay(time);
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digitalWrite(10, HIGH);
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delay(time);
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digitalWrite(10, LOW);
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delay(time);
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digitalWrite(9, HIGH);
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delay(time);
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digitalWrite(9, LOW);
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delay(time);
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digitalWrite(8, HIGH);
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delay(time);
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digitalWrite(8, LOW);
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delay(time);
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digitalWrite(7, HIGH);
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delay(time);
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digitalWrite(7, LOW);
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delay(time);
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digitalWrite(6, HIGH);
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delay(time);
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digitalWrite(6, LOW);
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delay(time);
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digitalWrite(5, HIGH);
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delay(time);
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digitalWrite(5, LOW);
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delay(time);
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digitalWrite(4, HIGH);
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delay(time);
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digitalWrite(4, LOW);
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delay(time);
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digitalWrite(3, HIGH);
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delay(time);
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digitalWrite(3, LOW);
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delay(time);
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digitalWrite(2, HIGH);
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delay(time);
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digitalWrite(2, LOW);
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delay(time);
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digitalWrite(A0, HIGH);
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delay(time);
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digitalWrite(A0, LOW);
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delay(time);
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digitalWrite(A1, HIGH);
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delay(time);
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digitalWrite(A1, LOW);
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delay(time);
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digitalWrite(A2, HIGH);
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delay(time);
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digitalWrite(A2, LOW);
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delay(time);
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digitalWrite(A3, HIGH);
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delay(time);
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digitalWrite(A3, LOW);
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delay(time);
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}

‎lightdog/lightdog.ino

+98
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//Make sure the dip switches are turned ON, and none of your shields are using pins A0,A1,A2,A3 or D4
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#include <Shieldbot.h> //includes the Shieldbot Library
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Shieldbot shieldbot = Shieldbot(); //decares a Shieldbot object
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#define ARR_LEN(x) (sizeof(x) / sizeof((x)[0]))
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//#define DBGTEAM4
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void setup(){
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Serial.begin(9600);//Begin serial comm for debugging
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shieldbot.setMaxSpeed(60,70);//255 is max, if one motor is faster than another, adjust values
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}
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void loop()
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{
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int s[5];
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s[4] = shieldbot.readS1();
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s[3] = shieldbot.readS2();
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s[2] = shieldbot.readS3();
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s[1] = shieldbot.readS4();
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s[0] = shieldbot.readS5();
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#define ___ 255 // don't care
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#define ON_ HIGH // light
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#define OFF LOW // dark
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#ifdef DBGTEAM4
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#define txt(x) ,x
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#else
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#define txt(x)
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#endif
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// Table that defines the behavior of the motors, based on the
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// sensors. The entries in the table either have to match the sensors
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// exactly, or they can
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const struct lookup_t
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{
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int s[5];
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char lspeed, rspeed;
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#ifdef DBGTEAM4
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const char *desc;
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#endif
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} lookups[] =
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{
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{ { OFF, OFF, ON_, OFF, OFF }, 127, 127 txt("1 center") }, // 1 center light: straight ahead
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{ { OFF, ON_, OFF, ON_, OFF }, 127, 127 txt("2 center") }, // 2 center lights: straight ahead
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{ { OFF, ON_, ON_, ON_, OFF }, 127, 127 txt("3 center") }, // 3 center lights: straight ahead
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{ { ON_, ON_, ON_, ON_, ON_ }, 0, 0 txt("all lit") }, // All lit: stop, we don't know where to go
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{ { ON_, ON_, ON_, ___, OFF }, 0, 127 txt("3/4 left") }, // 3 or 4 left lights: soft left
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{ { OFF, ___, ON_, ON_, ON_ }, 127, 0 txt("3/4 right") }, // 3 or 4 right lights: soft right
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{ { OFF, ON_, ___, OFF, OFF }, 127, 0 txt("1/2 left") }, // 1 or 2 left lights: soft left
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{ { OFF, OFF, ___, ON_, OFF }, 0, 127 txt("1/2 right") }, // 1 or 2 right lights: soft right
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{ { ON_, ON_, OFF, OFF, OFF }, 0, 127 txt("2 left") }, // 2 left lights: soft left
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{ { OFF, OFF, OFF, ON_, ON_ }, 127, 0 txt("2 right") }, // 2 right lights: soft right
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{ { ON_, OFF, OFF, OFF, OFF }, -128, 127 txt("1 left") }, // 1 left light: hard left
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{ { OFF, OFF, OFF, OFF, ON_ }, 127, -128 txt("1 right") }, // 1 right light: hard right
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};
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int found;
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for (unsigned lut = 0; lut < ARR_LEN(lookups); lut++)
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{
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const struct lookup_t *plookup = &lookups[lut];
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found = 1;
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for (unsigned index = 0; (found) && (index < 5); index++)
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{
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int wanted = plookup->s[index];
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if ( (wanted != ___) && (s[index] != wanted) )
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{
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found = 0;
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break;
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}
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}
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if (found)
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{
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#ifdef DBGTEAM4
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Serial.println(plookup->desc);
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#endif
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shieldbot.drive(plookup->lspeed, plookup->rspeed);
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break;
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}
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}
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if (!found)
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{
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#ifdef DBGTEAM4
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Serial.println("???");
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#endif
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shieldbot.drive(0, 0);
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delay(100);
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}
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}
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‎team4_dog.pdf

10.7 MB
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