Hello, I am looking for information on how to add an ultrasonic sensor to a robot I built some time ago. I want to use the sensor to detect objects at or within 10cm, stop, reverse, turn and then proceed forward.
What I am looking for is information, or an example, on what I need to add to my current code in order for the ultrasonic sensor to trigger the robot to respond in the same way it is currently responding to the "feelers" on the front end of the robot. I want to suppliment, not replace, the feelers with the ultrasonic sensor.
Also, I realize I may need to loose the IR sensor in order to free up pins for the ultrasonic sensor and I am fine with that.
I appreciate the help!
Here is the ultrasonic sensor I bought to use:
http://arduinobasics.blogspot.com/2012/11/arduinobasics-hc-sr04-ultrasonic-sensor.html
Here is a link to a page with all the info on the robot:
http://www.popularmechanics.com/technology/engineering/robots/build-your-first-robot
Here is the code I am currently using to run the robot:
#include <IRremote.h>
#include <IRremoteInt.h>
/*
Be sure to move the IRremote folder contained with this sketch to the
Arduino sketchbook libraries folder. See the readme.txt file for more
information.
Program your universal remote for a Sony TV code. Try different codes until
you get one that works.
*/
#include <IRremote.h>
#include <Servo.h>
#include "pitches.h"
Servo servoLeft; // Define left servo
Servo servoRight; // Define right servo
int RECV_PIN = 5;
IRrecv irrecv(RECV_PIN);
decode_results results;
volatile int pbLeft = LOW;
volatile int pbRight = LOW;
boolean started = false;
void setup() {
// Set pin modes for switches
pinMode(2, INPUT);
pinMode(3, INPUT);
pinMode(4, OUTPUT);
digitalWrite(2, HIGH);
digitalWrite(3, HIGH);
digitalWrite(4, LOW); // Serves as ground connection
pinMode(6, OUTPUT); // IR power, ground pins
pinMode(7, OUTPUT);
digitalWrite(6, LOW); // IR ground
digitalWrite(7, HIGH); // IR power
pinMode(12, OUTPUT); // Ground for speaker
digitalWrite(12, LOW);
servoLeft.attach(10); // Set left servo to digital pin 10
servoRight.attach(9); // Set right servo to digital pin 9
irrecv.enableIRIn(); // Start the receiver
Serial.begin(9600);
// Set up interrupts
attachInterrupt(0, hitRight, FALLING);
attachInterrupt(1, hitLeft, FALLING);
started = true;
}
void loop() {
if (pbLeft == HIGH) { // If left bumper hit
int tones[] = {NOTE_C4, NOTE_B3, NOTE_C4};
int toneDurations[] = {4,4,4};
reverse();
makeTone(tones, toneDurations, sizeof(tones)/sizeof(int));
delay(500);
spinRight();
delay(1500);
forward();
pbLeft = LOW;
Serial.println("pbLeft");
}
if (pbRight == HIGH) { // If right bumper hit
int tones[] = {NOTE_D6, NOTE_C3};
int toneDurations[] = {4,4};
reverse();
makeTone(tones, toneDurations, sizeof(tones)/sizeof(int));
delay(500);
spinLeft();
delay(1500);
forward();
pbRight = LOW;
Serial.println("pbRight");
}
if (irrecv.decode(&results)) {
switch (results.value) {
case 0x10:
Serial.println("1"); // Turn left forward
turnLeftFwd();
break;
case 0x810:
Serial.println("2"); // Forward
forward();
break;
case 0x410:
Serial.println("3"); // Turn right forward
turnRightFwd();
break;
case 0xC10:
Serial.println("4"); // Spin left
spinLeft();
break;
case 0x210:
Serial.println("5"); // Stop
stopRobot();
break;
case 0xA10:
Serial.println("6"); // Spin right
spinRight();
break;
case 0x610:
Serial.println("7"); // Turn left reverse
turnLeftRev();
break;
case 0xE10:
Serial.println("8"); // Reverse
reverse();
break;
case 0x110:
Serial.println("9"); // Turn right reverse
turnRightRev();
break;
}
//Serial.println(results.value, HEX);
irrecv.resume(); // Receive the next value
delay(2);
}
}
void makeTone(int tones[], int toneDurations[], int length) {
// Iterate notes of tune
for (int thisNote = 0; thisNote < length; thisNote++) {
//Calculate the note duration
int toneDuration = 1000/toneDurations[thisNote];
tone(13, tones[thisNote],toneDuration);
//Add slight pause between notes
int pauseBetweenNotes = toneDuration * 1.30;
delay(toneDuration * 1.30);
noTone(13); // Stop tone
}
irrecv.enableIRIn(); // Restart receiver
return;
}
// Motion routines for forward, reverse, turns, and stop
void forward() {
servoLeft.write(180);
servoRight.write(0);
}
void reverse() {
servoLeft.write(0);
servoRight.write(180);
}
void spinLeft() {
servoLeft.write(0);
servoRight.write(0);
}
void spinRight() {
servoLeft.write(180);
servoRight.write(180);
}
void turnLeftFwd() {
servoLeft.write(90);
servoRight.write(0);
}
void turnRightFwd() {
servoLeft.write(180);
servoRight.write(90);
}
void turnLeftRev() {
servoLeft.write(90);
servoRight.write(180);
}
void turnRightRev() {
servoLeft.write(0);
servoRight.write(90);
}
void stopRobot() {
servoLeft.write(90);
servoRight.write(90);
}
// Interrupt handlers
void hitLeft() {
if (started)
pbLeft = HIGH;
}
void hitRight() {
if (started)
pbRight = HIGH;
}
