Merge branch 'develop' into main

control/control.ino

@@ -0,0 +1,79 @@
+#include "MeMCore.h"
+#include <Wire.h>
+
+MeGyro gyro;
+MeDCMotor leftMotor(9);
+MeDCMotor rightMotor(10);
+
+uint8_t motorSpeed = 100;
+
+void setup() {
+
+  Serial.begin(115200);
+  gyro.begin();
+
+  leftMotor.run(0);
+  rightMotor.run(0);
+
+}
+
+void loop() {
+  //(0,0)
+  gyro.update();
+  goForward();
+  delay(2000);
+  stop();
+
+  //(10,0)
+  
+  float error = 100;
+  float d_target = 90;
+  float p = 0.5;
+  float v_e;
+  float v_r;
+  
+  while (error > 10){
+    gyro.update();
+    error = d_target - gyro.getAngleZ();
+    v_e = p*error;
+    v_r = -v_e;
+    goLeft(v_r);
+  }
+  stop();
+  
+  //(10,10)
+  //(0,10)
+
+}
+
+void goForward(){
+
+  leftMotor.run(-motorSpeed);
+  rightMotor.run(motorSpeed);
+  delay(1000);  
+
+}
+
+void goBackward(){
+
+  leftMotor.run(motorSpeed);
+  rightMotor.run(-motorSpeed);
+  delay(100);  
+
+}
+
+void goLeft(float rotateSpeed){
+
+  leftMotor.run(rotateSpeed);
+  rightMotor.run(rotateSpeed);
+  delay(100);
+
+}
+
+void stop(){
+
+  leftMotor.stop();
+  rightMotor.stop();
+  delay(100);
+
+}

gyro/gyro.ino

@@ -0,0 +1,25 @@
+#include "MeMCore.h"
+#include <Wire.h>
+
+MeGyro gyro;
+
+void setup() {
+  Serial.begin(115200);
+  gyro.begin();
+
+}
+
+void loop() {
+  gyro.update();
+  Serial.read();
+  Serial.print("X:");
+  Serial.print(gyro.getAngleX());
+  Serial.print(",");
+  Serial.print("Y:");
+  Serial.print(gyro.getAngleY());
+  Serial.print(",");
+  Serial.print("Z:");
+  Serial.println(gyro.getAngleZ());
+  delay(10);
+
+}

lineFollower/lineFollower.ino

@@ -0,0 +1,81 @@
+#include "MeMCore.h"
+
+MeDCMotor leftMotor(9);
+MeDCMotor rightMotor(10);
+MeLineFollower lineFinder(PORT_2); /* Line Finder module can only be connected to PORT_3, PORT_4, PORT_5, PORT_6 of base shield. */
+
+uint8_t motorSpeed = 50;
+
+void setup()
+{
+  Serial.begin(9600);
+}
+
+void loop()
+{
+  int sensorState = lineFinder.readSensors();
+  goForward();
+  switch(sensorState)
+  {
+    case S1_IN_S2_IN:
+      Serial.println("Sensor 1 and 2 are inside of black line"); 
+      goForward();
+    break;
+    case S1_IN_S2_OUT:
+      Serial.println("Sensor 2 is outside of black line");
+      goLeft();
+      goForward();
+    break;
+    case S1_OUT_S2_IN:
+      Serial.println("Sensor 1 is outside of black line");
+      goRight();
+      goForward();
+    break;
+    case S1_OUT_S2_OUT: 
+      Serial.println("Sensor 1 and 2 are outside of black line"); 
+      stop();
+    break;
+    default: break;
+  }
+  delay(200);
+}
+
+void goForward(){
+
+  leftMotor.run(-motorSpeed);
+  rightMotor.run(motorSpeed);
+  delay(1000);  
+
+}
+
+void goBackward(){
+
+  leftMotor.run(motorSpeed);
+  rightMotor.run(-motorSpeed);
+  delay(1000);  
+
+}
+
+void goLeft(){
+
+  leftMotor.run(motorSpeed);
+  rightMotor.run(motorSpeed);
+  delay(1000);
+
+}
+
+void goRight(){
+
+  leftMotor.run(-motorSpeed);
+  rightMotor.run(-motorSpeed);
+  delay(1000);
+
+}
+
+void stop(){
+
+  leftMotor.stop();
+  rightMotor.stop();
+  delay(1000);
+
+}