diff options
author | Cristian Maglie <c.maglie@bug.st> | 2013-06-01 23:16:02 +0200 |
---|---|---|
committer | Cristian Maglie <c.maglie@bug.st> | 2013-06-01 23:16:02 +0200 |
commit | 177ad96f866714a4962be57f69cd3d5a6334cde1 (patch) | |
tree | 1072239986340d6a239adac924eddf2e1d1ca566 /libraries/Robot_Control/examples/explore/R04_Compass | |
parent | 6cff36ac5e85c74bcb45cc53491ad69d64520b36 (diff) | |
parent | d90fcca5839d13d57ed527d4009b78d22dafbde7 (diff) |
Merge branch 'merge-1.0.5' into ide-1.5.x-discovery
Diffstat (limited to 'libraries/Robot_Control/examples/explore/R04_Compass')
-rw-r--r-- | libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino | 70 |
1 files changed, 70 insertions, 0 deletions
diff --git a/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino new file mode 100644 index 0000000..a7a7315 --- /dev/null +++ b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino @@ -0,0 +1,70 @@ +/* Robot Compass + + The robot has an on-board compass module, with + which it can tell the direction the robot is + facing. This sketch will make sure the robot + goes towards a certain direction. + + Beware, magnets will interfere with the compass + readings. + + Circuit: + * Arduino Robot + + created 1 May 2013 + by X. Yang + modified 12 May 2013 + by D. Cuartielles + + This example is in the public domain + */ + +// include the robot library +#include <ArduinoRobot.h> + +int speedLeft; +int speedRight; +int compassValue; +int direc = 180; //Direction the robot is heading + +void setup() { + // initialize the modules + Robot.begin(); + Robot.beginTFT(); + Robot.beginSD(); + Robot.displayLogos(); +} + +void loop() { + // read the compass orientation + compassValue = Robot.compassRead(); + + // how many degrees are we off + int diff = compassValue-direc; + + // modify degress + if(diff > 180) + diff = -360+diff; + else if(diff < -180) + diff = 360+diff; + + // Make the robot turn to its proper orientation + diff = map(diff, -180, 180, -255, 255); + + if(diff > 0) { + // keep the right wheel spinning, + // change the speed of the left wheel + speedLeft = 255-diff; + speedRight = 255; + } else { + // keep the right left spinning, + // change the speed of the left wheel + speedLeft = 255; + speedRight = 255+diff; + } + // write out to the motors + Robot.motorsWrite(speedLeft, speedRight); + + // draw the orientation on the screen + Robot.drawCompass(compassValue); +} |