Twist, Turn and Move Design Challenge - Unlimited CNC Robot Blog #5

Unlimited CNC Robot Blog #5 - Sponsored by TE robotics

This update is the code I wrote for the CNC Robot. The code includes all my recent updates, like IR Remote start and emergency stop. The programming of the IR Remote was new to me and was a bit challenging. It like to challenge myself with learning new things, it's rewarding when you get it working!!

Here is the code:

/**Unlimited CNC Robot**/

#include <IRremote.h>  //including infrared remote header file - This is used to start the robot and emergency stop

int RECV_PIN = 7; // the pin where you connect the output pin of IR sensor     
IRrecv irrecv(RECV_PIN);     
decode_results results; 

/**set control port - DFRobot L298P**/
const int E1Pin = 10;
const int M1Pin = 12;
const int E2Pin = 11;
const int M2Pin = 13;

/**inner definition**/
typedef struct {
  byte enPin;
  byte directionPin;
} MotorContrl;
  
const int M1 = 0;
const int M2 = 1;
const int MotorNum = 2;

const MotorContrl MotorPin[] = { {E1Pin, M1Pin}, {E2Pin, M2Pin} } ;

const int Forward = LOW;
const int Backward = HIGH;

//Sensor Connection
const int left_sensor_pin =A0;
const int right_sensor_pin =A1;
const int laser_on_sensor_pin =A2; /**Right**/
const int laser_off_sensor_pin =A3; /**Left**/

int left_sensor_state;
int right_sensor_state;
int laser_on_sensor_state;
int laser_off_sensor_state;
int turn_delay = 10;
int laser_status = 0; /**0 = Laser status is off, 1 = Laser status is On**/
int ircontrol = 0;
  

/**program**/
void setup() {
  
  Serial.begin(9600);     
  irrecv.enableIRIn();
  ircontrol = 0;
  initMotor();

  pinMode(9, OUTPUT); /**Power to Laser & Fan**/
  
}

void loop() {
  
  Serial.println("Waiting for IR Signal to start");

  if(irrecv.decode()){  // IR receive results
  ircontrol = 1;
  delay(1500);
  }
  if(ircontrol != 0){
  do{
    
  Serial.println("Robot in Running Mode");
  int value;
  
  irrecv.resume();
  left_sensor_state = analogRead(left_sensor_pin);
  right_sensor_state = analogRead(right_sensor_pin);
  laser_on_sensor_state = analogRead(left_sensor_pin);
  laser_off_sensor_state = analogRead(right_sensor_pin); 


  if(laser_status = 0)
  {
    if(laser_on_sensor_state  < 500)
    {
    Serial.println("Laser On");
    setMotorSpeed( M1, 0 );
    setMotorSpeed( M2, 0 );
    digitalWrite(9, HIGH); //Laser & Fan on

    delay(250);

    laser_status = 1; /**Laser status is now on**/

     }
  }


  if(laser_status = 1)
  {
    if(laser_off_sensor_state  < 500)
    {
    Serial.println("Laser Off/Fan Off");
    setMotorSpeed( M1, 0 );
    setMotorSpeed( M2, 0 );
    
    digitalWrite(9, LOW); //Laser & Fan off
    delay(200);

    laser_status = 0; //Laser status is now off
  
	}
  }
  
  
  if(right_sensor_state > 500 && left_sensor_state < 500)
  {
  Serial.println("turning right");

  setMotorDirection( M2, Forward );
  setMotorSpeed( M2, 100 );
  setMotorSpeed( M1, 0 );
  delay(turn_delay);
  
  }

  
if(right_sensor_state < 500 && left_sensor_state > 500)
{
  Serial.println("turning left");
  
  setMotorDirection( M1, Forward );
  setMotorSpeed( M1, 100 );
  setMotorSpeed( M2, 0 );
  delay(turn_delay);
  }


if(right_sensor_state < 500 && left_sensor_state < 500)
{
  Serial.println("going forward");

  setMotorDirection( M1, Forward );
  setMotorSpeed( M1, 100 );
  setMotorDirection( M2, Forward );
  setMotorSpeed( M2, 100 );

  delay(turn_delay);
  
  }


 if(right_sensor_state > 500 && left_sensor_state > 500)
{ 
  Serial.println("stop");
  
  setMotorSpeed( M1, 0 );
  setMotorSpeed( M2, 0 );
  digitalWrite(9, LOW); //Laser & Fan off

  laser_status = 0; //Laser status is off
  ircontrol = 0;
  
  } 


  if(irrecv.decode()){  // IR receive results
    ircontrol = 0;
    Serial.println("Emergency Stop Pressed");
    setMotorSpeed( M1, 0 );
    setMotorSpeed( M2, 0 );
    digitalWrite(9, LOW); //Laser & Fan off
    laser_status = 0; //Laser status is off
    delay(5000);
    
  }
  
}while(ircontrol != 0);

  }

  ircontrol = 0;
  irrecv.resume();
}


/**functions**/
void initMotor() {
  int i;
  for ( i = 0; i < MotorNum; i++ ) {
    digitalWrite(MotorPin[i].enPin, LOW);

    pinMode(MotorPin[i].enPin, OUTPUT);
    pinMode(MotorPin[i].directionPin, OUTPUT);
  }
}

/**  motorNumber: M1, M2
direction:          Forward, Backward **/
void setMotorDirection( int motorNumber, int direction ) {
  digitalWrite( MotorPin[motorNumber].directionPin, direction);
}

/** speed:  0-100   * */
inline void setMotorSpeed( int motorNumber, int speed ) {
  analogWrite(MotorPin[motorNumber].enPin, 255.0 * (speed / 100.0) ); //PWM
}

I still need to configure the motor speed to allow the laser to burn a continuous line. There may be other parts of the code that require adjusting, that will be known when I test run the robot.

Thank you for checking out my latest blog,

Dale Winhold