ROOMBA

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. */
+    
+    } 
+}