From 1ae439eb4043879432dd29a44bcac3dc3cb46229 Mon Sep 17 00:00:00 2001 From: Kilian DECLERCQ Date: Thu, 7 Apr 2022 10:36:29 +0200 Subject: [PATCH] ROOMBA --- roomba/roomba.ino | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 roomba/roomba.ino diff --git a/roomba/roomba.ino b/roomba/roomba.ino new file mode 100644 index 0000000..4fde0c0 --- /dev/null +++ b/roomba/roomba.ino @@ -0,0 +1,40 @@ +#include "MeMCore.h" +const int Port_1 =9; +const int Port_2 =10; + + +MeDCMotor motor1(Port_1); +MeDCMotor motor2(Port_2); +MeUltrasonicSensor ultraSensor(PORT_3); /* Ultrasonic module can ONLY be connected to port 3, 4, 6, 7, 8 of base shield. */ +uint8_t motorSpeed =100; +double distance; +double threshold= 10; +int ran; +void setup() +{Serial.begin(9600); +} + +void loop() +{ + + distance = ultraSensor.distanceCm(); + + if (distance <= threshold){ + + motor1.stop(); + motor2.stop(); + motorSpeed =random(-255,255); + Serial.println(motorSpeed); + motor1.run(motorSpeed); /* value: between -255 and 255. */ + motor2.run(motorSpeed); /* value: between -255 and 255. */ + + delay(random(250,500)); + } + + else if (distance > threshold){ + + motor1.run(-200); /* value: between -255 and 255. */ + motor2.run(200); /* value: between -255 and 255. */ + + } +}