asd

Linefollower.ino

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+#include "MeMCore.h"
+
+MeLineFollower lineFollower(PORT_1);
+MeDCMotor motor1(9);
+MeDCMotor motor2(10);
+
+const uint8_t motorSpeed = 100;
+
+void setup() {
+  Serial.begin(9600);
+}
+
+void loop() {
+  uint8_t sensorValue = lineFollower.readSensors();
+  Serial.println(sensorValue);
+  //S1_IN_S2_IN
+  if (sensorValue == 0) { // Both sensors are on the black line
+    // Move forward
+    motor1.run(-motorSpeed);
+    motor2.run(motorSpeed);
+  } else if (sensorValue == 2) { 
+    // Turn slightly right
+    motor1.run(-motorSpeed);
+    motor2.run(motorSpeed / 200);
+  } else if (sensorValue == 1) {
+    // Turn slightly left
+    motor1.run(-motorSpeed / 200);
+    motor2.run(motorSpeed);
+  } else { // Both sensors are on the white surface (lost the line)
+    motor1.stop();
+    motor2.stop();
+  }
+}

Rumba.ino

@@ -0,0 +1,46 @@
+#include "MeMCore.h"
+
+MeUltrasonicSensor ultrasensor(PORT_3);
+MeDCMotor motor1(9);
+MeDCMotor motor2(10);
+uint8_t motorSpeed = 100;
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+  randomSeed(analogRead(A0));
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  if (ultrasensor.distanceCm() > 10) {
+    motor1.run(-motorSpeed);
+    motor2.run(motorSpeed);
+  } else {
+    motor1.stop();
+    motor2.stop();
+    delay(500);
+
+    // Random rotation duration between 500 ms and 2000 ms
+    unsigned long rotationDuration = random(500, 2001);
+
+    // Random rotation angle between 45 and 315 degrees
+    int rotationAngle = random(60, 316);
+    unsigned long rotationTime = map(rotationAngle, 0, 360, 0, rotationDuration);
+
+    // Rotate in a random direction
+    if (random(0, 2) == 0) { // 50% chance of being CW or CCW
+      motor1.run(-motorSpeed);
+      motor2.run(-motorSpeed);
+    } else {
+      motor1.run(motorSpeed);
+      motor2.run(motorSpeed);
+    }
+
+    delay(rotationTime);
+
+    motor1.stop();
+    motor2.stop();
+    delay(500);
+  }
+}

control.ino

@@ -0,0 +1,67 @@
+#include "MeMCore.h"
+#include <Wire.h>
+
+MeDCMotor motor1(9);
+MeDCMotor motor2(10);
+MeGyro gyro(PORT_4);
+
+const uint8_t motorSpeed = 100;
+const unsigned long forwardDuration = 2000;
+const float Kp = 5.0; 
+
+void setup() {
+  Serial.begin(9600);
+  gyro.begin();
+}
+
+void turnRight90Degrees() {
+  float targetAngle = ((int)gyro.getAngleZ() - 90)%360;
+  float error;
+  do {
+    gyro.update();
+
+    error = targetAngle - gyro.getAngleZ();
+    int speedAdjustment = Kp * error;
+
+    motor1.run(constrain(-motorSpeed + speedAdjustment, -motorSpeed, motorSpeed));
+    motor2.run(constrain(motorSpeed - speedAdjustment, motorSpeed, -motorSpeed));
+    Serial.print("gyro.getAngleZ()= ");
+    Serial.print(gyro.getAngleZ());
+    Serial.print("error= ");
+    Serial.print(error);
+    Serial.print("speedAdjustment= ");
+    Serial.println(speedAdjustment);
+    delay(50);
+  } while (abs(error) > 2); // Exit the loop when the error is less than 2 degrees
+
+  motor1.stop();
+  motor2.stop();
+}
+
+void loop() {
+  for (int i = 0; i < 4; i++) {
+    // Move forward
+    motor1.run(-motorSpeed);
+    motor2.run(motorSpeed);
+    delay(forwardDuration);
+
+    // Stop the motors
+    motor1.stop();
+    motor2.stop();
+    delay(1000);
+
+    // Turn right 90 degrees using the gyro sensor
+    turnRight90Degrees();
+
+    // Stop the motors
+    motor1.stop();
+    motor2.stop();
+    delay(1000);
+ 
+  }
+  //Stop the robot after drawing the square
+ while (true) {
+    motor1.stop();
+   motor2.stop();
+  }
+}

gyro.ino.ino

@@ -0,0 +1,30 @@
+#include "MeMCore.h"
+#include <Wire.h>
+
+MeGyro gyro(PORT_4);
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+  gyro.begin();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  gyro.update();
+  Serial.read();
+  Serial.print("X: ");
+  Serial.print(gyro.getAngleX() );
+  Serial.print("Y: ");
+  Serial.print(gyro.getAngleY() );
+  Serial.print("Z: ");
+  Serial.println(gyro.getAngleZ() );
+
+  Serial.print(gyro.getAngleX());
+  Serial.print(",");
+  Serial.print(gyro.getAngleY());
+  Serial.print(",");
+  Serial.println(gyro.getAngleZ());
+
+  delay(5);
+}

motion.ino

@@ -0,0 +1,29 @@
+#include "MeMCore.h"
+MeDCMotor motor1(9);
+MeDCMotor motor2(10);
+uint8_t motorSpeed = 100;
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  motor1.run(-motorSpeed);
+  motor2.run(motorSpeed);
+  delay (1000);
+        
+  motor1.stop();
+  motor2.stop();
+
+  delay (1000);
+  motor1.run(-motorSpeed);
+  motor2.run(-motorSpeed);
+
+  delay(1000);
+  motor1.stop();
+  motor2.stop();
+
+  delay (1000);
+}

ultrasonic.ino.ino

@@ -0,0 +1,15 @@
+#include "MeMCore.h"
+
+MeUltrasonicSensor ultrasensor(PORT_3);
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  Serial.print("Distance: ");
+  Serial.print (ultrasensor.distanceCm());
+  Serial.println (" cm");
+  delay(500);
+}