Fall Season

 
 
IMG_4887.jpg

 

 

 

Jump Starting

 

Your Sumo

Sumo Robot League training to quickly create code for Sumo competitions and more!

 

What will you need?

 
Sumo Robot League's Mini Robot Kit
The Arduino IDE on a computer
A trainer and the training slides
Screwdriver, philips
Four AA batteries

What will you learn? 

 
The rules of Sumo Robot competition
How to build a sumo robot 
How to code your robot (using pre-written functions) to blink the LED, attack objects, and compete Sumo style
Basic troubleshooting
 

Here is the code you will need.

 
/*// use these if your circuitboard is red
#define pingPin 3
#define echoPin A0
#define leftSensor A1
#define rightSensor A2
#define buttonPin 2
#define leftDirection 4
#define buzzerPin 5
#define IREmitter 6
#define LED 7
#define rightDirection 8
#define leftMotorSpeed 9
#define rightMotorSpeed 10
//*/

// use these if your circuitboard is black
#define pingPin 10
#define echoPin A0
#define leftSensor A1
#define rightSensor A2
#define rearSensor A3
#define buttonPin 2
#define buzzerPin 3
#define IREmitter 4
#define leftMotorSpeed 5
#define rightMotorSpeed 6
#define leftDirection 7
#define rightDirection 8
#define LED 13
//*/

bool leftIsFlipped = false;  //If the left motor goes backwards when it is supposed to go forwards set to true
bool rightIsFlipped = true;  
int lBlack = 0; int rBlack = 0;
int lWhite = 0; int rWhite = 0;

void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
pinMode(pingPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(leftDirection, OUTPUT);
pinMode(rightDirection, OUTPUT);
pinMode(leftMotorSpeed, OUTPUT);
pinMode(rightMotorSpeed, OUTPUT);
pinMode(leftSensor, INPUT);
pinMode(rightSensor, INPUT);
pinMode(IREmitter, OUTPUT);
pinMode(buttonPin, INPUT_PULLUP);
calibrateBlackWhite();
}

void loop() {
// put your main code here, to run repeatedly

}


// below here are the functions to help you get up and running fast.Feel free to look around but making changes could break your code.

void drive(int x) {
// map converts [-100,100] to [-255,255]
int spd = map(x, -100, 100, -255, 255);
setSpeeed(spd, 0);
setSpeeed(spd, 1);
}

void setSpeeed(int sped, int motor) {
int speedPin, directionPin;
bool flippedPin;
if ( motor == 0 ) {
speedPin = leftMotorSpeed;
directionPin = leftDirection;
flippedPin = leftIsFlipped;
} else if ( motor == 1 ) {
speedPin = rightMotorSpeed;
directionPin = rightDirection;
flippedPin = rightIsFlipped;
}

if ( sped == 0 ) {
analogWrite(speedPin, 0);
digitalWrite(directionPin, LOW);
} else if ( (sped > 0 && !flippedPin) || (sped < 0 && flippedPin) ) {
digitalWrite(directionPin, HIGH);
analogWrite(speedPin, abs(sped));
} else if ( (sped < 0 && !flippedPin) || (sped > 0 && flippedPin) ) {
digitalWrite(directionPin, LOW);
analogWrite(speedPin, abs(sped));
}
}

void turnDegrees(double y) {
bool lWheel = 0;
bool rWheel = 0;

if (y > 0) {
lWheel = 0;
rWheel = 1;
if (leftIsFlipped) {
lWheel = 1;
}
if (rightIsFlipped) {
rWheel = 0;
}
digitalWrite(leftDirection, lWheel); analogWrite(leftMotorSpeed, 255);
digitalWrite(rightDirection, rWheel);analogWrite(rightMotorSpeed, 255);
delay(y * 6.21111);
analogWrite(leftMotorSpeed, 0);
analogWrite(rightMotorSpeed, 0);
} else if (y < 0) {
lWheel = 1;
rWheel = 0;
if (leftIsFlipped) {
lWheel = 0;
}
if (rightIsFlipped) {
rWheel = 1;
}
digitalWrite(leftDirection, lWheel);analogWrite(leftMotorSpeed, 255);
digitalWrite(rightDirection, rWheel); analogWrite(rightMotorSpeed, 255);
delay(abs(y * 6.21111));
analogWrite(leftMotorSpeed, 0);
analogWrite(rightMotorSpeed, 0);
} else Serial.println("0 degree turn");
}

boolean objectWithin(int cm) {
return getDistance() < cm;
}

int getDistance() {
long duration;
int distance;
digitalWrite(pingPin, LOW);// Added this line
delayMicroseconds(2); // Added this line
digitalWrite(pingPin, HIGH);
delayMicroseconds(10); // Added this line
digitalWrite(pingPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (int) ( (duration / 2) / 29.1 );
return distance;
}

//returns true if either front IR sensor detects white
//uses the thresholds for the left and right front IR sensors that 
//are calculated via the calibrateBlackWhite function
boolean isWhite(){
digitalWrite(IREmitter, HIGH);
int left = analogRead(leftSensor);
Serial.print("left: ");Serial.println(left);
int right = analogRead(rightSensor);
Serial.print("right: "); Serial.println(right);
digitalWrite(IREmitter, LOW);

int lThresh = (lWhite + ((lBlack - lWhite) / 2));
Serial.print("lThresh: "); Serial.println(lThresh);
int rThresh = (rWhite + ((rBlack - rWhite) / 2));
Serial.print("rThresh: "); Serial.println(rThresh);

if(left < lThresh || right < rThresh){
return true;
}else return false;
}

//averages 5 black and 5 white IR readings for each front IR sensor
//then calculates the threshold between the balck and white readings
void calibrateBlackWhite(){
int n = 5;
int lBlacks[n]; int rBlacks[n];
int lWhites[n]; int rWhites[n];

Serial.println("place front sensors on black and press button");
while(digitalRead(buttonPin) == 1){
delay(100);
}

digitalWrite(IREmitter, HIGH);
for (int i = 0; i < n; i++){
lBlacks[i] = analogRead(leftSensor);
rBlacks[i] = analogRead(rightSensor);
Serial.print("lBlacks: ");
Serial.print(lBlacks[i]);
Serial.print(" rBlacks: ");
Serial.println(rBlacks[i]);
}
digitalWrite(IREmitter, LOW);

Serial.println("place front sensors on white and press button");
delay(1000);
while(digitalRead(buttonPin) == 1){
delay(100);
}

digitalWrite(IREmitter, HIGH);
for (int i = 0; i < n; i++){
lWhites[i] = analogRead(leftSensor);
rWhites[i] = analogRead(rightSensor);
Serial.print("lWhites: ");
Serial.print(lWhites[i]);
Serial.print(" rWhites: ");
Serial.println(rWhites[i]);
}
digitalWrite(IREmitter, LOW);

for (int i = 0; i < n; i++){
lBlack += lBlacks[i];
rBlack += rBlacks[i];
lWhite += lWhites[i];
rWhite += rWhites[i];
}
lBlack = lBlack / n; rBlack = rBlack / n;
lWhite = lWhite / n; rWhite = rWhite / n;
Serial.print("average of left blacks: "); Serial.println(lBlack);
Serial.print("average of right blacks: ");Serial.println(rBlack);
Serial.print("average of left whites: "); Serial.println(lWhite);
Serial.print("average of right whites: ");Serial.println(rWhite);

delay(1000);
}