Merged 1.0.5

1 files changed, 78 insertions, 0 deletions

diff --git a/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino b/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino
new file mode 100644
index 0000000..9832d29
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino
@@ -0,0 +1,78 @@
+/* Runaway Robot
+
+ Play tag with your robot! With an ultrasonic 
+ distance sensor, it's capable of detecting and avoiding
+ obstacles, never bumping into walls again!
+  
+ You'll need to attach an untrasonic range finder to TK1.
+
+ Circuit:
+ * Arduino Robot
+ * US range finder like Maxbotix EZ10, with analog output
+ 
+ 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 sensorPin = TK1;  // pin is used by the sensor
+
+void setup() {
+  // initialize the Robot, SD card, and display
+  Serial.begin(9600);
+  Robot.begin();
+  Robot.beginTFT();
+  Robot.beginSD();
+  Robot.displayLogos();
+  
+  // draw a face on the LCD screen
+  setFace(true);
+}
+
+void loop() {
+  // If the robot is blocked, turn until free
+  while(getDistance() < 40) {  // If an obstacle is less than 20cm away
+    setFace(false); //shows an unhappy face
+    Robot.motorsStop(); // stop the motors
+    delay(1000); // wait for a moment
+    Robot.turn(90); // turn to the right and try again
+    setFace(true); // happy face
+  }
+  // if there are no objects in the way, keep moving
+  Robot.motorsWrite(255, 255); 
+  delay(100);
+}
+
+// return the distance in cm
+float getDistance() {
+  // read the value from the sensor
+  int sensorValue = Robot.analogRead(sensorPin);
+  //Convert the sensor input to cm.
+  float distance_cm = sensorValue*1.27;
+  return distance_cm;  
+}
+
+// make a happy or sad face
+void setFace(boolean onOff) {
+  if(onOff) {
+    // if true show a happy face
+    Robot.background(0, 0, 255);
+    Robot.setCursor(44, 60);
+    Robot.stroke(0, 255, 0);
+    Robot.setTextSize(4);
+    Robot.print(":)");
+  }else{
+    // if false show an upset face
+    Robot.background(255, 0, 0);
+    Robot.setCursor(44, 60);
+    Robot.stroke(0, 255, 0);
+    Robot.setTextSize(4);
+    Robot.print("X(");
+  }
+}