I have a rough draft of the Drivetrain library for the Arduino coded; a video showing the code in action is available on vimeo at http://vimeo.com/9544359.
The sketch looks like this:
#include <Motor.h>
#include <DiffDrive.h>
#include <Ping.h>
#define PINGPIN 3
#define STOPDIST 10
int distance;
// set up ultrasonic ranging sensor
Ping URS0(PINGPIN);
// set up drivetrain on pin 9 - 12 (9/10 for motor A, 11/12 for motor B)
// Implied is that motor A's forward direction is to the left (aka H/L),
// motor B's forward direction is to the right (aka L/H), and the enable
// pins are tied directly to Vcc1.
DiffDrive drivetrain(9, 10, 11, 12);
void setup() { delay(1000); }
void loop() {
distance = URS0.ping_cm();
if (distance < STOPDIST) { drivetrain.stop(); }
else { drivetrain.forward(); }
// quick delay to prevent the URS from reading too quickly.
delay(60);
}
There’s not much to using it; the available commands (still needing verification that they work as intended) are
forward();
backward();
left();
right();
stop();
Hopefully this will make controlling the robot’s motion easier.
Some pictures:
An overview of the board.
A close up of the URS and the left side motor.
A close up of the left side motor.
The right side motor way off on its own.
Closeup of the SN754410 on its own mini-breadboard.
And lastly, an overhead view of the whole mess.
February 18, 2010, 9:03am
