Add ScoutBotics Examples

Example programs for the October 27th, 2018 ScoutBotics event.

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_IRcontrol/GLC_IRcontrol.ino

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+/* 05/04/2018
+
+  This program will setup the Gobbit robot to be controlled and programmable by an infrared (IR) remote.
+
+  The Gobbit robot needs an arduino Uno, motor driver, line sensor, infrared receiver, and piezo beeper.
+  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.
+    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.
+  There is also one minor mode:
+    4) This mode is only used for "trimming" the motors (full forward and backward directions only) if needed
+       for Mode 1&2 to function better.
+
+
+  "IRremote" library is also needed.
+
+    Use the IRremote example "IRrecvDemo" to find the IR codes from your remote.
+
+    Make sure to set your RECV_PIN and turn on your IR_POWER_PIN if used.
+
+    Update the #define IR button values in the tab "IRcodes.h" to match your remote's buttons
+    (the tab is at the top of this text area)
+
+  For GobbitLineCommand function definitions, see the GobbitLineCommand "GLC_Functions" example sketch.
+
+  ** See comments within the code for further details **
+
+*/
+
+// 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 11
+
+// 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 A3 // analog pin your voltage divider is connected
+#define CUTOFF 9 // cut off voltage... set here 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
+
+#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() {
+
+  MyBot.setGripPinOpenClosed(10,180,75); 
+
+
+  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 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 11.1v is  0.2, 0.001, 4.4
+ // MyBot.setPIDfineRange(0.6); // default at 11.1v is 0.05 //was .6 start fix
+#endif
+
+  MyBot.setBatteryVolts(BATTERY_VOLTS);
+
+  MyBot.beginGobbit();  // initializes robot with settings
+
+  MyBot.gripOpen();
+
+  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;
+    }
+  }
+}
+
+
+
+
+
+
+
+
+
+
+

examples/ScoutBotics/Level_2/GLC_IRcontrol/IRcodes.h

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+
+// direct tv
+
+// IR commands... change these to match your buttons/keys
+// ** If your remote button only outputs one code when it is pushed multiple times, 
+//   set the XX_BUTTON value to that code with "0x" before it since it is a HEX value
+//   and leave the XX_BUTTN_ALT value as "0x0" (zero).  
+// If it toggles between two different codes, as you tap the button,
+//   set XX_BUTTON value to one code and
+//   set the XX_BUTTN_ALT value to the other code.
+
+// Basic required 17 remote buttons
+#define ZERO_BUTTON         0x1CE300FF
+#define ZERO_BUTTN_ALT      0x0
+#define ONE_BUTTON          0x1CE3807F
+#define ONE_BUTTN_ALT       0x0
+#define TWO_BUTTON          0X1CE340BF
+#define TWO_BUTTN_ALT       0x0
+#define THREE_BUTTON        0x1CE3C03F
+#define THREE_BUTTN_ALT     0x0
+#define FOUR_BUTTON         0x1CE320DF
+#define FOUR_BUTTN_ALT      0x0
+#define FIVE_BUTTON         0x1CE3A05F
+#define FIVE_BUTTN_ALT      0x0
+#define SIX_BUTTON          0x1CE3609F
+#define SIX_BUTTN_ALT       0x0
+#define SEVEN_BUTTON        0x1CE3E01F
+#define SEVEN_BUTTN_ALT     0x0
+#define EIGHT_BUTTON        0x1CE310EF
+#define EIGHT_BUTTN_ALT     0x0
+#define NINE_BUTTON         0x1CE3906F
+#define NINE_BUTTN_ALT      0x0
+#define ENTER_BUTTON        0x1CE3B04F     // button at the bottom right of the number pad
+#define ENTER_BUTTN_ALT     0x0
+#define BACK_BUTTON         0x1CE3E817     // button at the bottom left of the number pad
+#define BACK_BUTTN_ALT      0x0
+
+#define FORWARD_BUTTON      0x1CE350AF     // forward/up direction button/arrow
+#define FORWARD_BUTTN_ALT   0x0     // alternate forward/up direction button/arrow
+#define BACKWARD_BUTTON     0x1CE3D02F     // backward/down direction button/arrow
+#define BACKWARD_BUTTN_ALT  0x0     // alternate backward/down direction button/arrow
+#define RIGHT_BUTTON        0x1CE3708F     // right direction button/arrow
+#define RIGHT_BUTTN_ALT     0x0     // alternate right direction button/arrow
+#define LEFT_BUTTON         0x1CE3F00F     // left direction button/arrow
+#define LEFT_BUTTN_ALT      0x0     // alternate left direction button/arrow
+#define STOP_BUTTON         0x1CE348B7     // stop button in the middle of the direction keys
+#define STOP_BUTTN_ALT      0x0     // alternate stop button in the middle of the direction keys
+
+// Optionally set these buttons only if you have available buttons and want to expand
+// beyond the number and arrow keys for clarity.
+// ** These MUST be left with "0x0" values if they are not used. **
+#define FORWARD_RIGHT       0x0
+#define FORWARD_RT_ALT      0x0
+#define FORWARD_LEFT        0x0
+#define FORWARD_LFT_ALT     0x0
+#define BACKWARD_RIGHT      0x0
+#define BACKWARD_RT_ALT     0x0
+#define BACKWARD_LEFT       0x0
+#define BACKWARD_LFT_ALT    0x0
+#define RC_MODE             0x0
+#define RC_MOD_ALT          0x0
+#define FREE_PROGRAM_MODE   0x0
+#define FREE_PROG_MOD_ALT   0x0
+#define LINE_PROGRAM_MODE   0x0
+#define LINE_PROG_MOD_ALT   0x0
+#define TRIM_MODE           0x0
+#define TRIM_MOD_ALT        0x0
+#define PLAY_PROGRAM        0x0
+#define PLAY_PROG_ALT       0x0
+#define STOP_PROGRAM        0x0
+#define STOP_PROG_ALT       0x0
+
+// Gripper buttons
+#define    GRIP_OPEN     0x1CE332CD
+#define    GRIP_OPN_ALT  0x0
+#define    GRIP_CLOSE    0x1CE318E7
+#define    GRIP_CLOS_ALT 0x0
+
+#define REPEAT_CODE         0xFFFFFFFF  // this probably does not need any change