improved examples

still under construction

examples/ScoutBotics/Level_1/BSA_Course/BSA_Course.ino

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+/* 10/20/2018
+ *  
+ *  Using the Gobbit robot with line sensor on the BSA shaped course...
+ *  
+ *  The program will...
+ *  
+ *   1) Use the drive() function to navigate from the start to the end point.
+ *   2) Stop at the end and do nothing else.
+ *   
+ *  *** Change the use of the drive() steps to improve your course time. ***
+ *  
+ *  How the drive() function works...
+ *    Calling drive('L/R/F/S/U') will start driving/following the line and continue following until it 
+ *    is able to complete the requested direction/turn at the next found intersection 
+ *    or end.  If it cannot make the requested direction/turn, it will spin around fast 
+ *    to indicate it had a problem, and stop the robot.
+ *    
+ *    Turn direction values are ('L')eft, ('R')ight, ('F')orward, ('S')top, or ('U')turn.
+ *
+ *  To see a video using a similar sketch:  https://youtu.be/c2BB-Bc95Ik
+ * 
+*/
+
+// Choose your Motor Driver...
+// To load default settings for either an Ardumoto version 14 or 20, or an Adafruit v2.3,
+// uncomment only the following motor driver define that matches.
+// If none are uncommented, Ardumoto v14 values will be used.
+//
+// DO NOT UNCOMMENT MORE THAN ONE
+//#define ARDUMOTO_14
+//#define ARDUMOTO_20  
+//#define ADAFRUIT_MS
+
+#include <GobbitLineCommand.h>
+
+// Give your robot a name.
+// I called it "MyBot" here, but you call it whatever you want.
+// If you make a new name, make sure to find/replace all of the "MyBot" in the sketch with your new name. 
+GobbitLineCommand MyBot;
+
+void setup() {
+
+  MyBot.setBatteryVolts(9);
+
+  MyBot.beginGobbit();
+
+  MyBot.calibrateLineSensor();
+
+}
+
+void loop() {
+
+  // Use the drive() function to drive from the start to the end of the course
+  // Note: You could use a for() loop to easily repeat drive() statements.
+  MyBot.drive('F');
+  MyBot.drive('F');
+  MyBot.drive('F');
+  MyBot.drive('F');
+  MyBot.drive('F');
+  MyBot.drive('F');
+  MyBot.drive('F');
+  MyBot.drive('F');
+  MyBot.drive('F');
+  MyBot.drive('F');
+
+  // at the end, stop the robot
+  MyBot.drive('S');
+
+  // We need to tell it to do nothing else forever so it doesn't start the loop() over
+  while(1);
+
+}

examples/ScoutBotics/Level_2/GLC_GetIRcodes/GLC_GetIRcodes.ino

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+/*  10/22/2018
+   This program uses the IRremote library to find IR codes with the
+   Gobbit robot wired and configured for use by the GLC_IRcontrol examples.
+   
+   Upload this program then use the serial monitor to test and capture IR codes.
+   
+      Make sure the baud in the serial monitor is set to 9600
+
+   This is a small mod of the original example:
+
+      IRremote: IRrecvDemo - demonstrates receiving IR codes with IRrecv
+      An IR detector/demodulator must be connected to the input RECV_PIN.
+      Version 0.1 July, 2009
+      Copyright 2009 Ken Shirriff
+      http://arcfn.com
+*/
+
+#include <IRremote.h>
+
+
+// Here we are using an IO pin to supply the IR receiver with +5v.
+// This is a shortcut for low mAmp power where you may have available IO pins and
+// where the +5v is already used and you do not have a breadboard or splitter.
+//   Comment out this next line if you do not want to use an IO pin as supply.
+#define IR_POWER_PIN A0  // declare pin number used for IR receiver power
+
+int RECV_PIN = A1;  // declare pin number connected to signal pin of IR receiver
+
+
+IRrecv irrecv(RECV_PIN);
+
+decode_results results;
+
+void setup()
+{
+
+  // If IR_POWER_PIN was defined, this will set the pin to power the IR receiver,
+#ifdef IR_POWER_PIN
+  pinMode(IR_POWER_PIN, OUTPUT);
+  digitalWrite(IR_POWER_PIN, HIGH);
+#endif
+
+  Serial.begin(9600);
+  // In case the interrupt driver crashes on setup, give a clue
+  // to the user what's going on.
+  Serial.println("Enabling IRin");
+  irrecv.enableIRIn(); // Start the receiver
+  Serial.println("Enabled IRin");
+}
+
+void loop() {
+  if (irrecv.decode(&results)) {
+    Serial.println(results.value, HEX);
+    irrecv.resume(); // Receive the next value
+  }
+  delay(100);
+}

examples/ScoutBotics/Level_2/GLC_IRcontrol_Mode5c/Config.h

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+// Choose your Motor Driver...
+// To load default settings for either an Ardumoto version 14 or 20, or an Adafruit v2.3,
+// uncomment only the following motor driver define that matches.
+// If none are uncommented, Ardumoto v14 values will be used.
+//
+// DO NOT UNCOMMENT MORE THAN ONE
+//#define ARDUMOTO_14
+//#define ARDUMOTO_20
+//#define ADAFRUIT_MS
+
+// What voltage is your battery (whole numbers only)
+#define BATTERY_VOLTS 9
+
+// If you will use an IO pin to power the IR receiver +5v
+//   then declare the define to the pin number.
+//   Otherwise, comment it at out.
+// This is a shortcut for low mAmp power where you may have available IO pins and
+// where the +5v pin is already used and you do not have a breadboard or splitter on hand.
+#define IR_POWER_PIN A0  // comment out to disable
+
+#define RECV_PIN A1 // pin your IR receiver is using
+
+#define PIEZO_PIN A2  // piezo beeper/sensor pin
+
+// veering turn values have stronger turning with larger value, max 99 where 100 is spinning
+// Used with Mode 1 and 2 only
+#define MINOR_VEER_STRENGTH 30
+#define MODERATE_VEER_STRENGTH 60  // used for FORWARD_RIGHT/LEFT turns/veering
+#define MAJOR_VEER_STRENGTH 90
+
+#define CALIBRATE_SPEED 0 // speed 0-100 for line follow calibration mode. 0 uses default values.
+
+#define RC_SPINSPEED 45 // speed 0-100 for right/left turn/spin in Mode 1 only. 
+
+#define BUTTON_HOLD_DELAY  110  // (was 110) delay for hold down repeat to continue last command to allow for time between IR transmissions
+
+#define DEBOUNCE_DELAY 250 // debounce time to allow finger off of key
+
+#define TRIM_MAX_TIME 4000 // maximumm time in milliseconds in Trim mode (4) to continue the last command without a new command
+
+
+// set these values ONLY if using battery monitoring
+// to disable, comment out the define ANALOG_DIVIDER_PIN
+//#define ANALOG_DIVIDER_PIN A5 // analog pin your voltage divider is connected
+#define CUTOFF 9 // cut off voltage... for example, for a 3 cell lithium, set at 3.0v x 3 cells = 9 
+#define SMALL_RES_KOHMS 33 // K ohm value of your small resistor in the divider
+#define LARGE_RES_KOHMS 100 // K ohm value of your small resistor in the divider
+
+// set these values ONLY if using the gripper
+// to disable and conserve memory, comment out #define GRIPPER_PIN
+//#define GRIPPER_PIN A5
+#define GRIPPER_OPEN 180   // degree of gripper servo where gripper is open
+#define GRIPPER_CLOSED 75  // degree of gripper servo where gripper is closed

examples/ScoutBotics/Level_2/GLC_IRcontrol_Mode5c/GLC_IRcontrol_Mode5c.ino

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+/* 10/22/2018
+
+**** fix mode 5 notes
+  confirm pid good for scoutbotics
+  compile or rename tabs
+  add note of where modes are, m1,m2 etc
+  /
+   general cleanup of variables and function names
+
+   add better instructions
+
+   remove clutter
+
+   create extra folder in examples with other remote IRcode only examples
+
+   wiring diagrams
+
+
+  This program will setup the Gobbit robot to be controlled and programmable by an infrared (IR) remote.
+
+    See videos and project directions : http://www.primalengineering.com/robots/irprogram.html
+
+    ** See the Config.h tab for hardware and other settings **
+        (the tabs are at the top of this text area)
+
+    "IRremote" library is also needed.  Make sure it is installed through the Library Manager
+
+  The Gobbit robot needs an arduino Uno, motor driver, line sensor, infrared receiver, and piezo beeper (element).
+  The IR remote needs a minimum of 17 buttons.  Ideally, the buttons include a 10 key number pad with
+  two extra buttons on either side of the 0 button, and the typical four directional arrows with an additional
+  button in the middle for a stop button.  The robot will then be able to be controlled by the remote
+  in three primary modes:
+    1) Simple RC type control where the robot moves while the direction button is held down
+    2) A direction/speed/time based programming mode where either individual or a series of
+       direction, speed, and timing commands are entered and executed via the remote.  This is also
+       known as "Dead Reckoning."
+    3) Line following with intersection detection based programming mode where either individual or a series of
+       direction, speed, and timing commands are entered and executed via the remote.
+       A lined course is needed for this mode.
+    4) This mode is a minor mode of mode 1&2.  It is only used for "trimming" the motors (full forward and
+       backward directions only) if needed for Mode 1&2 to function better.
+    5) Tiled line solving mode.  This receives IR number commands only which call, in the ordere entered,
+       the matching functions in the &&&&& tab to navigate the tiled path, regardless of which end of the
+       tiles the robot enters first.
+
+
+    Use the example program to find the IR codes from your remote:
+      GobbitLineCommand->ScoutBotics->Level_2->GLC_GetIRcodes
+
+        In GLC_IRgetCodes, Make sure to set your RECV_PIN and your IR_POWER_PIN if used.
+
+      Update the #define IR button values here in the tab "IRcodes.h" to match your remote's buttons
+      (the tabs are at the top of this text area)
+
+      There are examples of some IR remote control codes in the variious tabs of the example
+        GobbitLineCommand->ScoutBotics->Level_2->GLC_SampleIRcodes
+
+  For GobbitLineCommand function definitions, see the GobbitLineCommand "GLC_Functions" example sketch.
+
+  ** See comments within the code and modes (m1-5 tabs) for further details **
+*/
+
+#include "Config.h"
+#include "IRcodes.h"
+
+#include <IRremote.h>
+IRrecv irrecv(RECV_PIN);
+decode_results results;
+
+#include <GobbitLineCommand.h>
+GobbitLineCommand MyBot;
+
+
+int mode = 0;
+int moving = 0;
+int lastButtonValue;
+int currentSpeed = 100;
+unsigned long previousMillis = 0;
+int steerTrimF = 0; // steering trim forward motion
+int steerTrimB = 0; // steering trim backward motion
+
+
+void setup() {
+
+#ifdef GRIPPER_PIN
+  MyBot.setGripPinOpenClosed(GRIPPER_PIN, GRIPPER_OPEN, GRIPPER_CLOSED); 
+#endif
+
+  pinMode(PIEZO_PIN, OUTPUT);
+
+  //  Serial.begin(9600);
+
+  // If IR_POWER_PIN was defined, this will set the pin to power the IR receiver,
+#ifdef IR_POWER_PIN
+  pinMode(IR_POWER_PIN, OUTPUT);
+  digitalWrite(IR_POWER_PIN, HIGH);
+#endif
+
+
+  // Due to limited resources and motor shield pin usage, you need to shift some pins around to avoid PWM and timer
+  // conflicts between IRremote and some motor driver shield pins.
+  // This also requires using jumpers between the standard driver pins and the locations called here.
+  //   NOTES:
+  //      -More pins can be freed up if the motor shield is removed from the arduino and wired instead of stacked.
+  //      -Since both A4 and A5 are being used, I2C cannot be used in this configuration since an ardumoto style shield is stacked due to wasted pins.
+  //      -TO free up pins, use an I2C based driver like the Adafruit v2.
+
+  // ArduMoto v14
+#ifdef ARDUMOTO_14
+  MyBot.setQTRpins(2, 4, 5, 6, 7, 8, A3, A4); // **
+  MyBot.setLeftMotorPinsDirPWM(12, 9);  // on ardumoto v14, these were 12,3; use a jumper from 3 to 9
+  MyBot.setRightMotorPinsDirPWM(13, 10);  // on ardumoto v14, these were 13,11; use a jumper from 11 to 10
+#endif
+
+  // ArduMoto v20
+#ifdef ARDUMOTO_20
+  MyBot.setQTRpins(5, 6, 7, 8, 12, 13, A3, A4); // **
+  MyBot.setLeftMotorPinsDirPWM(4, 10);  // on ardumoto v20, these were 4,11; use a jumper from 11 to 10
+  MyBot.setRightMotorPinsDirPWM(2, 9);  // on ardumoto v20, these were 2,3; use a jumper from 3 to 9
+#endif
+
+  // use these for 9v, not above
+  // PID tunes here vary from the default due to pin changes and larger overhead timing of processor cycles.
+  //  See the "ArdumotoDefaults.h" or the "AdafruitMSDefaults.h" files in the library "src" folder to view or change the default values.
+#if (BATTERY_VOLTS < 10)
+  MyBot.setPID(0.25, 0.001, 1); // default at 9v is 0.15, .002, 411.1v is 0.15, 0.002, 4
+  MyBot.setPIDcoarse(0.3, 0.001, 4.4); // default at 9v is  0.2, 0.001, 3.4
+  MyBot.setPIDfineRange(0.6); // default at 9v is 0.04
+#endif
+
+  MyBot.setBatteryVolts(BATTERY_VOLTS);
+
+  MyBot.beginGobbit();  // initializes robot with settings
+
+#ifdef GRIPPER_PIN
+  MyBot.gripOpen(); 
+#endif
+
+  irrecv.enableIRIn(); // Start the IR receiver
+
+#ifdef ANALOG_DIVIDER_PIN
+  MyBot.checkBattery(ANALOG_DIVIDER_PIN, CUTOFF, SMALL_RES_KOHMS, LARGE_RES_KOHMS);
+#endif
+
+}
+
+void loop() {
+
+#ifdef ANALOG_DIVIDER_PIN
+  MyBot.checkBattery(ANALOG_DIVIDER_PIN, CUTOFF, SMALL_RES_KOHMS, LARGE_RES_KOHMS);
+#endif
+
+  MyBot.move(0, 0);
+
+  // wait for the mode selection to be received
+  if (buttonDecode()) {
+    mode = modeSelect();
+  }
+
+  // run in the selected mode
+  if (mode) {
+    switch (mode) {
+
+      case 1:  // Start Simple RC Mode
+        modeStartedBeep();
+        modeOne();
+        break;
+
+      case 2:  // Start Free Programming Mode
+        modeStartedBeep();
+        modeTwo();
+        break;
+
+      case 3:  // Start Line Following Programming Mode
+        modeStartedBeep();
+        modeThree();
+        break;
+
+      case 4:  // Start Trim Mode
+        modeStartedBeep();
+        modeFour();
+        break;
+
+      case 5:  // Start Tile Mode
+        modeStartedBeep();
+        modeFive();
+        break;
+    }
+  }
+}
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