s2e11_signelIRsensor.ino

/*
Challenge #1: Wire IR Sensor
Challenge #2: Calibrate IR Sensor so that it detects your hand
Challenge #3: Calibrate IR Sensor so that it detects black versus white
Challenge #4: Code your rover to stop at a black/dark object

*/


int motb_pin1 = 3;
int motb_pin2 = 11;

int mota_pin1 = 9;
int mota_pin2 = 10;

int button_pin = 2;

int trig_pin = 4;
int echo_pin = 5;

int irsensor_pin = 6;

void setup() {
  
  //-Control Motor B
  pinMode(motb_pin1,OUTPUT);
  pinMode(motb_pin2,OUTPUT);
  
  //-Control Motor A
  pinMode(mota_pin1,OUTPUT);
  pinMode(mota_pin2,OUTPUT);
  
  //- button
  pinMode(button_pin,INPUT_PULLUP);
  
  //-ultrasonic pin
  pinMode(trig_pin,OUTPUT);
  pinMode(echo_pin,INPUT);
  
  //-IR sensor pin
  pinMode(irsensor_pin,INPUT);
  
  Serial.begin(9600);
  
}

//-sends sound out and receives sound
//-returns the distance in centimeters
int ultrasonic() {
  
  long time;
  float distance;
  
  //-trigger a sound 
  // send out trigger signal
  digitalWrite(trig_pin, LOW);
  delayMicroseconds(2);
  digitalWrite(trig_pin, HIGH);
  delayMicroseconds(20);
  digitalWrite(trig_pin, LOW);
  
  //- a sound has gone out!!
  //- wait for a sound to come back
  
  time = pulseIn(echo_pin, HIGH);
  
  //- calculate the distance in centimeters
  distance = 0.01715 * time;
  
  return distance;

}

//- turn 90 degrees
void turnRight() {
  
  //- motor b is stopped
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,0);
  
  //- motor a moves forward
  analogWrite(mota_pin1,255);
  analogWrite(mota_pin2,0);
  
  delay(600);
  
  //- stop motor a
  analogWrite(mota_pin1,0);
  analogWrite(mota_pin2,0);
  
}

void tankTurn(int speeda, int speedb) {
  //- motor a moves ... backwards
  analogWrite(mota_pin1,0);
  analogWrite(mota_pin2,speeda);
  
  //- motor b moves forward
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,speedb);
  
  delay(1650);
  
  //- stop both motors
  stop();
  
}

void turnAround(int speeda, int speedb) {
  
  //- motor a is stopped
  analogWrite(mota_pin1,0);
  analogWrite(mota_pin2,0);
  
  //- motor b moves forward
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,speedb);
  
  delay(1650);
  
  //- stop motor b
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,0);
  
}

void turnLeft() {
  
  //- motor a is stopped
  analogWrite(mota_pin1,0);
  analogWrite(mota_pin2,0);
  
  //- motor b moves forward
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,255);
  
  delay(800);
  
  //- stop motor b
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,0);
  
}

void stop() {
  //- motor a
  analogWrite(mota_pin1,255);
  analogWrite(mota_pin2,255);
  
  //- motor b
  analogWrite(motb_pin1,255);
  analogWrite(motb_pin2,255);
}


void moveToWall(int speeda, int speedb) {
  
  //- move forward!
  //- motor a
  analogWrite(mota_pin1,speeda);
  analogWrite(mota_pin2,0);
  
  //- motor b
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,speedb);
  
  //-stop when you hit a wall!!
  
  int distance = ultrasonic();
  
  while (distance > 5) {
    //-do nothing except check distance
    distance = ultrasonic();
  }
  
  //-stop!!!
  stop();
  
}



void moveForward_no_distance(int speeda, int speedb) {
  //- motor a
  analogWrite(mota_pin1,speeda);
  analogWrite(mota_pin2,0);
  
  //- motor b
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,speedb);
}


void moveForward(int speeda, int speedb, int inches) {
  
  int myDelay;
  
  //- motor a
  analogWrite(mota_pin1,speeda);
  analogWrite(mota_pin2,0);
  
  //- motor b
  analogWrite(motb_pin1,0);
  analogWrite(motb_pin2,speedb);
  
  //- move forward the distance in inches
  
  myDelay = inches*125;
  delay(myDelay);
  
  //- stop
  stop();
  
}

void moveBackward(int speeda, int speedb) {
  
  //- motor a
  analogWrite(mota_pin1,0);
  analogWrite(mota_pin2,speeda);
  
  //- motor b
  analogWrite(motb_pin1,speedb);
  analogWrite(motb_pin2,0);
  
}

void loop() {
  
  if (digitalRead(irsensor_pin)==0) {
    //-this means i'm on the white table
    moveForward_no_distance(100,100);
  }
  else {
    stop();
  }
  
  
}