My Robot Project 2010-11

• Track Assembly Instructions
• Vehicle Assembly Instructions
• Motor Specs
• Encoders

• Technical Specs

• L298 IC

		630
		↑
CH1	630	←1040→	1450
		↓
		1450
		CH2

unsigned long compass;

void setup() 
{
  pinMode (9, INPUT);
  Serial.begin(9600);
}

void loop()
{
   
  do
  {
    compass = pulseIn(9,HIGH);
    Serial.print(compass);
    Serial.print("\n");
  }while(1);
}

 
unsigned long starttime; 
unsigned long endtime; 
unsigned long ttime; 
float distance; 

void setup() 
{
  pinMode (12, INPUT);
  pinMode (13, OUTPUT);
  Serial.begin(9600);
}

void loop() 
{
   
  do
  {
    digitalWrite(13,HIGH);
    starttime=micros();
    delayMicroseconds(10);
    digitalWrite(13,LOW);
    do
    {
    }while(digitalRead(12)!=HIGH);

    do
    {
    }while(digitalRead(12)!=LOW);
    endtime=micros();
    ttime=endtime-starttime;
    distance=ttime*pow(10,-6)*1087*12/2;
    Serial.print(ttime);
    Serial.print(" ");
    Serial.print(distance);
    Serial.print("\n");
  }while(1);
}

 // handle chn5 and chn6 buttons (set variables chn5 and chn6 (boolean) to true or false
  if (q[5]>1500)
  {
    chn5=LOW;
    mstop();
  }
  else if (q[5]<500)
  {
    chn5=HIGH;
    mstop();
  }  
  
  if (q[6]>1500)
  {
    chn6=LOW;
    mstop();
  }
  else if (q[6]<600)
  {
    chn6=HIGH;
    mstop();
  }