#include <AFMotor.

h>
#include <Servo.h>
#include <NewPing.h>

#define TRIG_PIN A4 // Pin A4 on the Motor Drive Shield soldered to the ultrasonic
sensor
#define ECHO_PIN A5 // Pin A5 on the Motor Drive Shield soldered to the ultrasonic
sensor
#define MAX_DISTANCE 200 // sets maximum useable sensor measuring distance to
200cm
#define MAX_SPEED 180 // sets speed of DC traction motors to 180/256 or about
70% of full speed - to get power drain down.
#define MAX_SPEED_OFFSET 10 // this sets offset to allow for differences between
the two DC traction motors
#define COLL_DIST 10 // sets distance at which robot stops and reverses to 10cm
#define TURN_DIST COLL_DIST+10 // sets distance at which robot veers away from
object (not reverse) to 20cm (10+10)
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); // sets up sensor library to
use the correct pins to measure distance.

AF_DCMotor motor1(1, MOTOR12_1KHZ); // create motor #1 using M1 output on

Motor Drive Shield, set to 1kHz PWM frequency
AF_DCMotor motor2(4, MOTOR12_1KHZ); // create motor #2, using M2 output, set
to 1kHz PWM frequency
Servo myservo; // create servo object to control a servo

int pos = 0; // this sets up variables for use in the sketch (code)
int maxDist = 0;
int maxAngle = 0;
int maxRight = 0;
int maxLeft = 0;
int maxFront = 0;
int course = 0;

int curDist = 0;
String motorSet = "";
int speedSet = 0;

//-------------------------------------------- SETUP LOOP

---------------------------------------------------------------------------void setup() {
myservo.attach(9); // attaches the servo on pin 9 (SERVO_2 on the Motor Drive
Shield to the servo object
myservo.write(90); // tells the servo to position at 90-degrees ie. facing forward.
delay(2000); // delay for two seconds
checkPath(); // run the CheckPath routine to find the best path to begin travel
motorSet = "FORWARD"; // set the director indicator variable to FORWARD
myservo.write(90); // make sure servo is still facing forward
moveForward(); // run function to make robot move forward
}
//-----------------------------------------------------------------------------------------------------------------------------------

//---------------------------------------------MAIN LOOP
-----------------------------------------------------------------------------void loop() {
checkForward(); // check that if the robot is supposed to be moving forward, that
the drive motors are set to move forward - this is needed to overcome some issues
with only using 4 AA NiMH batteries
checkPath(); // set ultrasonic sensor to scan for any possible obstacles
}
//-----------------------------------------------------------------------------------------------------------------------------------void checkPath() {
int curLeft = 0;
int curFront = 0;

int curRight = 0;
int curDist = 0;
myservo.write(144); // set servo to face left 54-degrees from forward
delay(120); // wait 120milliseconds for servo to reach position
for(pos = 144; pos >= 36; pos-=18)
// loop to sweep the servo (& sensor) from
144-degrees left to 36-degrees right at 18-degree intervals.
{
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(90); // wait 90ms for servo to get to position
checkForward(); // check the robot is still moving forward
curDist = readPing(); // get the current distance to any object in front of sensor
if (curDist < COLL_DIST) { // if the current distance to object is less than the
collision distance
checkCourse(); // run the checkCourse function
break; // jump out of this loop
}
if (curDist < TURN_DIST) { // if current distance is less than the turn distance
changePath(); // run the changePath function
}
if (curDist > curDist) {maxAngle = pos;}
if (pos > 90 && curDist > curLeft) { curLeft = curDist;}
if (pos == 90 && curDist > curFront) {curFront = curDist;}
if (pos < 90 && curDist > curRight) {curRight = curDist;}
}
maxLeft = curLeft;
maxRight = curRight;
maxFront = curFront;
}
//------------------------------------------------------------------------------------------------------------------------------------

void setCourse() { // set direction for travel based on a very basic distance map,
simply which direction has the greatest distance to and object - turning right or left?
if (maxAngle < 90) {turnRight();}
if (maxAngle > 90) {turnLeft();}
maxLeft = 0;
maxRight = 0;
maxFront = 0;
}
//-----------------------------------------------------------------------------------------------------------------------------------void checkCourse() { // we're about to hit something so move backwards, stop, find
where the empty path is.
moveBackward();
delay(500);
moveStop();
setCourse();
}
//-----------------------------------------------------------------------------------------------------------------------------------void changePath() {
if (pos < 90) {veerLeft();} // if current pos of sensor is less than 90-degrees, it
means the object is on the right hand side so veer left
if (pos > 90) {veerRight();} // if current pos of sensor is greater than 90-degrees, it
means the object is on the left hand side so veer right
}
//------------------------------------------------------------------------------------------------------------------------------------

int readPing() { // read the ultrasonic sensor distance

delay(70);
unsigned int uS = sonar.ping();
int cm = uS/US_ROUNDTRIP_CM;

return cm;
}
//-----------------------------------------------------------------------------------------------------------------------------------void checkForward() { if (motorSet=="FORWARD") {motor1.run(FORWARD);
motor2.run(FORWARD); } }
// make sure motors are going forward
//-----------------------------------------------------------------------------------------------------------------------------------void checkBackward() { if (motorSet=="BACKWARD") {motor1.run(BACKWARD);
motor2.run(BACKWARD); } } // make sure motors are going backward
//------------------------------------------------------------------------------------------------------------------------------------

// In some cases, the Motor Drive Shield may just stop if the supply voltage is too
low (due to using only four NiMH AA cells).
// The above functions simply remind the Shield that if it's supposed to go forward,
then make sure it is going forward and vice versa.

//-----------------------------------------------------------------------------------------------------------------------------------void moveStop() {motor1.run(RELEASE); motor2.run(RELEASE);} // stop the

motors.
//-----------------------------------------------------------------------------------------------------------------------------------void moveForward() {
motorSet = "FORWARD";
motor1.run(FORWARD);

// turn it on going forward

motor2.run(FORWARD);

// turn it on going forward

for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the
speed up to avoid loading down the batteries too quickly
{
motor1.setSpeed(speedSet+MAX_SPEED_OFFSET);
motor2.setSpeed(speedSet);
delay(5);

}
}
//-----------------------------------------------------------------------------------------------------------------------------------void moveBackward() {
motorSet = "BACKWARD";
motor1.run(BACKWARD);
motor2.run(BACKWARD);

// turn it on going forward

// turn it on going forward

for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the
speed up to avoid loading down the batteries too quickly
{
motor1.setSpeed(speedSet+MAX_SPEED_OFFSET);
motor2.setSpeed(speedSet);
delay(5);
}
}
//-----------------------------------------------------------------------------------------------------------------------------------void turnRight() {
motorSet = "RIGHT";
motor1.run(FORWARD);
motor2.run(BACKWARD);

// turn motor 1 forward

// turn motor 2 backward

delay(400); // run motors this way for 400ms

motorSet = "FORWARD";
motor1.run(FORWARD);

// set both motors back to forward

motor2.run(FORWARD);
}
//-----------------------------------------------------------------------------------------------------------------------------------void turnLeft() {
motorSet = "LEFT";

motor1.run(BACKWARD);
motor2.run(FORWARD);

// turn motor 1 backward

// turn motor 2 forward

delay(400); // run motors this way for 400ms

motorSet = "FORWARD";
motor1.run(FORWARD);

// turn it on going forward

motor2.run(FORWARD);

// turn it on going forward

}
//-----------------------------------------------------------------------------------------------------------------------------------void veerRight() {motor2.run(BACKWARD); delay(400); motor2.run(FORWARD);} //
veering right? set right motor backwards for 400ms
//-----------------------------------------------------------------------------------------------------------------------------------void veerLeft() {motor1.run(BACKWARD); delay(400); motor1.run(FORWARD);} //
veering left? set left motor backwards for 400ms
//------------------------------------------------------------------------------------------------------------------------------------