Seeing EyeDuino - Blog #5 - Robot code

10 Aug 2018

For my 5th blog posting I will show the code I am using to run the robot and spelling in Braille. This part has been a bit of work but is coming along great. I have run into issues with the motors I have for driving the robot but that will be discussed in my next blog.

Below is the code (so far) for driving the robot. The Braille code hasn't been added in as of yet but the alphabet has been coded.

#include <Servo.h>

Servo myservo;  

//Drive Motors
const int MotorR1 = 6; //forward right motor 
const int MotorR2 = 7; // backward right motor 
const int MotorL1 = 4; // forward left motor 
const int MotorL2 = 5; // backward left motor 

//Ultrasonic Sensor
const int trigPin = 9; 
const int echoPin = 10; 
 
long duration; 
int distanceL;
int distanceF;
int distanceR;
int pos = 0;

void setup() {
 
  //Ultrasonic Sensor
  pinMode(trigPin, OUTPUT); 
  pinMode(echoPin, INPUT); 
  Serial.begin(9600); 
 
  //Drive Motors
  pinMode(MotorR1, OUTPUT);  
  pinMode(MotorR2, OUTPUT);  
  pinMode(MotorL1, OUTPUT);  
  pinMode(MotorL2, OUTPUT);  
  digitalWrite(MotorR1, LOW);  
  digitalWrite(MotorR2, LOW);  
  digitalWrite(MotorL1, LOW);  
  digitalWrite(MotorL2, LOW); 
  myservo.attach(8); 

  //Braille 
  pinMode(1, OUTPUT);
  pinMode(2, OUTPUT);  
  pinMode(3, OUTPUT);  
  pinMode(11, OUTPUT);  
  pinMode(12, OUTPUT);  
  pinMode(13, OUTPUT);
  int timeA = 200;
  int timeB = 300;
  int timeC = 500;
    
}

void loop() {
  for (pos = 30; pos <= 90; pos += 1) { //Send servo to start position and turn to face forward
    // in steps of 1 degree
    myservo.write(pos);              
    delay(15);                     
  }

  //Ping and record distance 
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2); 
 
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10); 
  digitalWrite(trigPin, LOW); 
  
  duration = pulseIn(echoPin, HIGH); 
 
  distanceF= duration*0.034/2;
  
  
  for (pos = 90; pos <= 150; pos += 1) { //Turn to far right 
    // in steps of 1 degree
    myservo.write(pos);             
    delay(15);                      
  }
  
  //Ping and record distance
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2); 
 
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10); 
  digitalWrite(trigPin, LOW); 
 
 
  duration = pulseIn(echoPin, HIGH); 
 
  distanceR= duration*0.034/2;
  
    
  for (pos = 150; pos >= 90; pos -= 1) { //Return to forward position
    myservo.write(pos);              
    delay(15);                       
  }
  //Ping and record distance
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2); 
 
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10); 
  digitalWrite(trigPin, LOW); 
 
 
  duration = pulseIn(echoPin, HIGH); 
 
  distanceF= duration*0.034/2;
  
  
  for (pos = 90; pos >= 30; pos -= 1) { //Move to far left position
    // in steps of 1 degree
    myservo.write(pos);             
    delay(15);                       
  }
  
  //Ping and record distance
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2); 
 
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10); 
  digitalWrite(trigPin, LOW); 
 
 
  duration = pulseIn(echoPin, HIGH); 
 
  distanceL= duration*0.034/2;

//With ping distance information decide how to proceed
if (distanceL <= 600 && distanceL > 400)
    {
 
  //Add braille code here with warning
  
        //turn right  
        digitalWrite(MotorR1, LOW);  
        digitalWrite(MotorR2, HIGH);  
        digitalWrite(MotorL1, HIGH);  
        digitalWrite(MotorL2, LOW);  
        delay(500);
        digitalWrite(MotorR1, LOW);  
        digitalWrite(MotorR2, LOW);  
        digitalWrite(MotorL1, LOW);  
        digitalWrite(MotorL2, LOW);
        
    }
    
  if (distanceL <= 400)
    {
  //Add braille code here with warning
  
        //turn right  
        digitalWrite(MotorR1, LOW);  
        digitalWrite(MotorR2, HIGH);  
        digitalWrite(MotorL1, HIGH);  
        digitalWrite(MotorL2, LOW);  
        delay(750);
        digitalWrite(MotorR1, LOW);  
        digitalWrite(MotorR2, LOW);  
        digitalWrite(MotorL1, LOW);  
        digitalWrite(MotorL2, LOW);
        
    }
    
    if (distanceR <= 600 && distanceR >400)
    {
   //Add braille code here with warning
 
      //turn left  
      digitalWrite(MotorR1, HIGH);  
      digitalWrite(MotorR2, LOW);  
      digitalWrite(MotorL1, LOW);  
      digitalWrite(MotorL2, HIGH);  
      delay(500);
      digitalWrite(MotorR1, LOW);  
      digitalWrite(MotorR2, LOW);  
      digitalWrite(MotorL1, LOW);  
      digitalWrite(MotorL2, LOW);
    }
    
  if (distanceR <= 400)
    {
   //Add braille code here with warning
  
      //turn left  
      digitalWrite(MotorR1, HIGH);  
      digitalWrite(MotorR2, LOW);  
      digitalWrite(MotorL1, LOW);  
      digitalWrite(MotorL2, HIGH);  
      delay(750);
      digitalWrite(MotorR1, LOW);  
      digitalWrite(MotorR2, LOW);  
      digitalWrite(MotorL1, LOW);  
      digitalWrite(MotorL2, LOW);
    }

  if (distanceF >= 800)
    {
      //go forward  
      digitalWrite(MotorR1, HIGH);  
      digitalWrite(MotorR2, LOW);  
      digitalWrite(MotorL1, HIGH);  
      digitalWrite(MotorL2, LOW);  
      delay(2000);
    }
    
  if (distanceF < 800 && distanceF > 600)
    {
   //Add braille code here with warning
   
      //go forward  
      digitalWrite(MotorR1, HIGH);  
      digitalWrite(MotorR2, LOW);  
      digitalWrite(MotorL1, HIGH);  
      digitalWrite(MotorL2, LOW);  
      delay(1000);
    }

  if (distanceF < 599 && distanceF > 300)
    {
   //Add braille code here with warning
  
      //go forward  
      digitalWrite(MotorR1, HIGH);  
      digitalWrite(MotorR2, LOW);  
      digitalWrite(MotorL1, HIGH);  
      digitalWrite(MotorL2, LOW);  
      delay(500);
    }

  if (distanceF < 300)
    {
   //Add braille code here with warning

      //Stop  
      digitalWrite(MotorR1, LOW);  
      digitalWrite(MotorR2, LOW);  
      digitalWrite(MotorL1, LOW);  
      digitalWrite(MotorL2, LOW);  
      delay(1000);
    }

}

Below is the code I will be using for the Braille. I still have to decide what the warnings will say before it is added into the above code.

  pinMode(1, OUTPUT);
  pinMode(2, OUTPUT);  
  pinMode(3, OUTPUT);  
  pinMode(11, OUTPUT);  
  pinMode(12, OUTPUT);  
  pinMode(13, OUTPUT);
  
  int timeA = 200; //delay between on and off
  int timeB = 300; //delay between Letters
  int timeC = 500; //delay between Words
  
  
  //A & 1
  {
  digitalWrite (1, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite(1, LOW);
  }
  
  //B & 2
  {
  digitalWrite (1, HIGH); 
  digitalWrite (3, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (3, LOW); 
  }
  
  //C & 3
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW); 
  }
  
  //D & 4
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  digitalWrite (11, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW); 
  digitalWrite (11, LOW);
  }
  
  //E & 5
  {
  digitalWrite (1, HIGH); 
  digitalWrite (11, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (11, LOW);
  }
  
  //F & 6
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  digitalWrite (3, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW); 
  digitalWrite (3, LOW);
  }
  
  //G & 7
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  digitalWrite (3, HIGH);
  digitalWrite (11, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW); 
  digitalWrite (3, LOW);
  digitalWrite (11, LOW);
  }
  
  //H & 8
  {
  digitalWrite (1, HIGH);  
  digitalWrite (3, HIGH);
  digitalWrite (11, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW); 
  digitalWrite (3, LOW);
  digitalWrite (11, LOW);
  }
  
  //I & 9
  {
  digitalWrite (2, HIGH); 
  digitalWrite (3, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (2, LOW);
  digitalWrite (3, LOW); 
  }
  
  //J & 0 (zero)
  {
  digitalWrite (2, HIGH); 
  digitalWrite (3, HIGH);
  digitalWrite (11, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (2, LOW); 
  digitalWrite (3, LOW);
  digitalWrite (11, LOW);
  }
  
  //K
  {
  digitalWrite (1, HIGH); 
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (12, LOW);
  }
  
  //L
  {
  digitalWrite (1, HIGH);  
  digitalWrite (3, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW); 
  digitalWrite (3, LOW);
  digitalWrite (12, LOW);
  }
  
  //M
  {
  digitalWrite (1, HIGH);  
  digitalWrite (2, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW); 
  digitalWrite (2, LOW);
  digitalWrite (12, LOW);
  }
  
  //N
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  digitalWrite (11, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW); 
  digitalWrite (11, LOW);
  digitalWrite (12, LOW);
  }
  
  //O
  {
  digitalWrite (1, HIGH);  
  digitalWrite (11, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW); 
  digitalWrite (11, LOW);
  digitalWrite (12, LOW);
  }
  
  //P
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  digitalWrite (3, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW); 
  digitalWrite (3, LOW);
  digitalWrite (12, LOW);
  }
  
  //Q
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  digitalWrite (3, HIGH);
  digitalWrite (11, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW);
  digitalWrite (3, LOW);  
  digitalWrite (11, LOW);
  digitalWrite (12, LOW);
  }
  
  //R
  {
  digitalWrite (1, HIGH); 
  digitalWrite (3, HIGH); 
  digitalWrite (11, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (3, LOW); 
  digitalWrite (11, LOW);
  digitalWrite (12, LOW);
  }
  
  //S
  {
  digitalWrite (2, HIGH);  
  digitalWrite (3, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (2, LOW); 
  digitalWrite (3, LOW);
  digitalWrite (12, LOW);
  }
  
  //T
  {
  digitalWrite (2, HIGH); 
  digitalWrite (3, HIGH); 
  digitalWrite (11, HIGH);
  digitalWrite (12, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (2, LOW);
  digitalWrite (3, LOW); 
  digitalWrite (11, LOW);
  digitalWrite (12, LOW);
  }
  
  //U
  {
  digitalWrite (1, HIGH); 
  digitalWrite (12, HIGH); 
  digitalWrite (13, HIGH);
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (12, LOW);
  digitalWrite (13, LOW);
  }
  
  //V
  {
  digitalWrite (1, HIGH); 
  digitalWrite (3, HIGH); 
  digitalWrite (12, HIGH);
  digitalWrite (13, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (3, LOW); 
  digitalWrite (12, LOW);
  digitalWrite (13, LOW);
  }
  
  //W
  {
  digitalWrite (2, HIGH); 
  digitalWrite (3, HIGH); 
  digitalWrite (11, HIGH);
  digitalWrite (13, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (2, LOW);
  digitalWrite (3, LOW); 
  digitalWrite (11, LOW);
  digitalWrite (13, LOW);
  }
  
  //X
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  digitalWrite (12, HIGH);
  digitalWrite (13, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW); 
  digitalWrite (12, LOW);
  digitalWrite (13, LOW);
  }
  
  //Y
  {
  digitalWrite (1, HIGH); 
  digitalWrite (2, HIGH); 
  digitalWrite (11, HIGH);
  digitalWrite (12, HIGH);
  digitalWrite (13, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (2, LOW);
  digitalWrite (11, LOW);  
  digitalWrite (12, LOW);
  digitalWrite (13, LOW);
  }
  
  //Z
  {
  digitalWrite (1, HIGH); 
  digitalWrite (11, HIGH); 
  digitalWrite (12, HIGH);
  digitalWrite (13, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (1, LOW);
  digitalWrite (11, LOW); 
  digitalWrite (12, LOW);
  digitalWrite (13, LOW);
  }
  
  
  //.
  {
  digitalWrite (3, HIGH); 
  digitalWrite (11, HIGH);
  digitalWrite (13, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (3, LOW); 
  digitalWrite (11, LOW);
  digitalWrite (13, LOW);
  }
  
  //#
  {
  digitalWrite (2, HIGH); 
  digitalWrite (11, HIGH); 
  digitalWrite (12, HIGH);
  digitalWrite (13, HIGH); 
  delay(timeA); //delay between on and off
  digitalWrite (2, LOW);
  digitalWrite (11, LOW); 
  digitalWrite (12, LOW);
  digitalWrite (13, LOW);
  }

Any questions, comments or ideas is always welcome

Dale Winhold

Top Comments

aspork42 over 7 years ago in reply to dixonselvan

I was thinking you could write a similar routine for each of the letters in the alphabet. They could be stored as an array and passed to a function which does all the digital Writes.

Something like below (This compiles without error but I haven't run it on any hardware):

void setup() {
  pinMode(1, OUTPUT);  
  pinMode(2, OUTPUT);    
  pinMode(3, OUTPUT);    
  pinMode(11, OUTPUT);    
  pinMode(12, OUTPUT);    
  pinMode(13, OUTPUT);  
}


//Create a constant variable for each Braile character
const bool _Char_A[6] = {1,0,0,0,0,0};
const bool _Char_B[6] = {1,1,0,0,0,0};
const bool _Char_C[6] = {1,0,0,1,0,0};


//remember which output pins we will be using in our For loop
const int _OutputPins[6] = { 1,2,3,11,12,13}; 


void loop() {
  WriteLetter(_Char_A);
  delay(1000);
  WriteLetter(_Char_B);
  delay(1000);
  while(1);
}


void WriteLetter(bool letter[])
{
  // turn pins ON
  for(int n =0; n < 6; n++)
  {
    digitalWrite(_OutputPins[n], letter[n]);
  }
  //wait 
  delay(500);


  //turn pins OFF
  for(int n =0; n < 6; n++)
  {
    digitalWrite(_OutputPins[n], LOW);
  }  
}

dixonselvan over 7 years ago
Thanks dwinhold for sharing the code. But the code looks quite lengthy which could be reduced if you try to find out the repetitive pattern and pass the values to a function.

Something like this,
1. if (distanceL <= 600 && distanceL > 400)
2. {
4. //Add braille code here with warning
6. //turn right
7. digitalWrite(MotorR1, LOW);
8. digitalWrite(MotorR2, HIGH);
9. digitalWrite(MotorL1, HIGH);
10. digitalWrite(MotorL2, LOW);
11. delay(500);
12. digitalWrite(MotorR1, LOW);
13. digitalWrite(MotorR2, LOW);
14. digitalWrite(MotorL1, LOW);
15. digitalWrite(MotorL2, LOW);
Could be changed to,

If (condition)
{
motorWrite (LOW, HIGH, HIGH, LOW);
delay(500);
motorWrite (LOW, LOW, LOW, LOW);
}

void motorWrite (val1, val2, val3, val4)
{
   digitalWrite(MotorR1, val1);
   digitalWrite(MotorR2, val2);
   digitalWrite(MotorL1, val3);
   digitalWrite(MotorL2, val4);
}
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