Merge branch 'merge-1.0.5' into ide-1.5.x-discovery

1 files changed, 124 insertions, 0 deletions

diff --git a/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino b/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino
new file mode 100644
index 0000000..48044db
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+++ b/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino
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+/* Robot Rescue
+
+ In this example, the robot enters the line following mode and
+ plays some music until it reaches its target. Once it finds the 
+ target, it pushes it out of the track. It then returns to the 
+ track and looks for a second target.
+
+ You can make the robot push as many objects as you want to, just
+ add more to calls to the rescue function or even move that code
+ into the loop.
+
+ Circuit:
+ * Arduino Robot
+ * some objects for the robot to push
+ * a line-following circuit
+
+ created 1 May 2013
+ by X. Yang
+ modified 12 May 2013
+ by D. Cuartielles
+ 
+ This example is in the public domain
+ */
+
+#include <ArduinoRobot.h> // include the robot library
+
+void setup(){
+  // initialize the Robot, SD card, display, and speaker 
+  Robot.begin();
+  Robot.beginTFT();
+  Robot.beginSD();
+  Robot.beginSpeaker();
+ 
+  // draw "lg0.bmp" and "lg1.bmp" on the screen 
+  Robot.displayLogos();
+
+  // display the line following instructional image from the SD card
+  Robot.drawBMP("lf.bmp", 0, 0);
+
+  // play the chase music file
+  Robot.playFile("chase.sqm");
+
+  // add the instructions
+  Robot.text("Rescue\n\n place the robot on\n the rescue track\n pushing the\n obstacles away", 5, 5);
+  Robot.text("Press the middle\n button to start...", 5, 61);
+  Robot.waitContinue();
+
+  // start
+  Robot.fill(255, 255, 255);
+  Robot.stroke(255, 255, 255);
+  Robot.rect(0, 0, 128, 80); // erase the previous text
+  Robot.stroke(0, 0, 0);
+  Robot.text("Start", 5, 5);
+  
+  // use this to calibrate the line following algorithm
+  // uncomment one or the other to see the different behaviors of the robot
+  // Robot.lineFollowConfig(11, 5, 50, 10);
+  Robot.lineFollowConfig(14, 9, 50, 10);
+  
+  // run the rescue sequence  
+  rescueSequence();
+  Robot.text("Found obstacle", 5, 12);
+  // find the track again
+  goToNext();
+  Robot.text("Found track", 5, 19);
+  // run the rescue sequence a second time
+  rescueSequence();
+  Robot.text("Found obstacle", 5, 26);
+  
+  // here you could go on ...
+ 
+  // write status on the screen
+  Robot.stroke(0, 0, 0);
+  Robot.text("Done!", 5, 25);
+}
+
+void loop(){
+  //nothing here, the program only runs once.
+}
+
+// run the sequence
+void rescueSequence(){
+  //set the motor board into line-follow mode
+  Robot.setMode(MODE_LINE_FOLLOW);  
+  
+  while(!Robot.isActionDone()){  // wait until it is no longer following the line
+  }
+  delay(1000);
+
+  // do the rescue operation
+  doRescue();
+  delay(1000);
+}
+
+void doRescue(){
+  // Reached the endline, engage the target
+  Robot.motorsWrite(200,200);
+  delay(250);
+  Robot.motorsStop();
+  delay(1000);
+
+  // Turn the robot 
+  Robot.turn(90);
+  Robot.motorsStop();
+  delay(1000);
+  
+  // Move forward
+  Robot.motorsWrite(200,200);
+  delay(500);
+  Robot.motorsStop();
+  delay(1000);
+  
+  // move backwards, leave the target
+  Robot.motorsWrite(-200,-200);
+  delay(500);
+  Robot.motorsStop();
+}
+
+void goToNext(){
+  // Turn the robot 
+  Robot.turn(-90);
+  Robot.motorsStop();
+  delay(1000);
+}