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authorCristian Maglie <c.maglie@bug.st>2013-06-01 23:16:02 +0200
committerCristian Maglie <c.maglie@bug.st>2013-06-01 23:16:02 +0200
commit177ad96f866714a4962be57f69cd3d5a6334cde1 (patch)
tree1072239986340d6a239adac924eddf2e1d1ca566 /libraries/Robot_Control/examples/explore/R04_Compass
parent6cff36ac5e85c74bcb45cc53491ad69d64520b36 (diff)
parentd90fcca5839d13d57ed527d4009b78d22dafbde7 (diff)
Merge branch 'merge-1.0.5' into ide-1.5.x-discovery
Diffstat (limited to 'libraries/Robot_Control/examples/explore/R04_Compass')
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diff --git a/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino
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+/* 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);
+}