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Fixed robot libraries and examples for unified Arduino core
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Xun Yang
@@ -1,103 +1,38 @@
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/* 6 Wheel Calibration
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*
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* Use this sketch to calibrate the wheels in your robot.
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* Your robot should drive as straight as possible when
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* putting both motors at the same speed.
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*
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* Run the software and follow the on-screen instructions.
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* Use the trimmer on the bottom board to make sure the
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* robot is working at its best!
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*
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* (c) 2013 X. Yang
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*/
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#include "scripts_library.h"
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Use this sketch to calibrate the wheels in your robot.
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Your robot should drive as straight as possible when
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putting both motors at the same speed.
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Run the software and follow the on-screen instructions.
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Use the trimmer on the motor board to make sure the
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robot is working at its best!
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Circuit:
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* Arduino Robot
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created 1 May 2013
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by X. Yang
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modified 12 May 2013
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by D. Cuartielles
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This example is in the public domain
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*/
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#include <ArduinoRobot.h> // inport the robot librsry
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// import the utility library
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// a description of its funtionality is below
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#include <utility/RobotTextManager.h>
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// arrays to hold the text for instructions
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char script1[] ="Wheel Calibration";
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char script2[] ="1. Put Robot on a\n flat surface";
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char script3[] ="2. Adjust speed with the knob on top";
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char script4[] ="3. If robot goes\n straight, it's done";
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char script5[] ="4. Use screwdriver\n on the bottom trim";
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char script6[] ="- Robot turns left,\n screw it clockwise;";
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char script7[] ="- Turns right, screw it ct-colockwise;";
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char script8[] ="5. Repeat 4 until\n going straight";
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int speedRobot; //robot speed
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int calibrationValue; //value for calibrate difference between wheels
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#include <ArduinoRobot.h>
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void setup(){
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//necessary initialization sequence
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Serial.begin(9600);
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Robot.begin();
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Robot.beginTFT();
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Robot.beginSD();
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Robot.setTextWrap(false);
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Robot.displayLogos();
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// left and top margin for displaying text
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// see below for a description of this
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textManager.setMargin(5,5);
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// write all instructions at once
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writeAllscript();
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writeAllScripts();
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}
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void loop(){
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//Control the robot's speed with knob on top
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int speedRobot=map(Robot.knobRead(),0,1023,-255,255);
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Robot.motorsWrite(speedRobot,speedRobot);
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int val=map(Robot.knobRead(),0,1023,-255,255);
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Serial.println(val);
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Robot.motorsWrite(val,val);
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//read value of the pot on motor baord,to clibrate the wheels
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int calibrationValue=map(Robot.trimRead(),0,1023,-30,30);
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// print the values to the screen
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Robot.debugPrint(calibrationValue,110,145);
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int WC=map(Robot.trimRead(),0,1023,-20,20);
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Robot.debugPrint(WC,108,149);
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delay(40);
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}
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void writeAllscript(){
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//prints 8 scripts one after another
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textManager.writeText(0,0,script1);
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textManager.writeText(1,0,script2);
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textManager.writeText(3,0,script3);
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textManager.writeText(5,0,script4);
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textManager.writeText(7,0,script5);
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textManager.writeText(9,0,script6);
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textManager.writeText(11,0,script7);
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textManager.writeText(13,0,script8);
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}
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/**
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textManager mostly contains helper functions for
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R06_Wheel_Calibration and R01_Hello_User.
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textManager.setMargin(margin_left, margin_top):
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Configure the left and top margin for text
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display. The margins will be used by
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textManager.writeText().
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Parameters:
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margin_left, margin_top: int, the margin values
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from the top and left side of the screen.
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Returns:
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none
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textManager.writeText(line,column,text):
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Display text on the specific line and column.
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It's different from Robot.text() which
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uses pixels for positioning the text.
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Parameters:
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line:int, which line is the text displayed. Each line
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is 10px high.
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column:int, which column is the text displayed. Each
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column is 8px wide.
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text:a char array(string) of the text to be displayed.
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Returns:
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none
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*/
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@@ -0,0 +1,43 @@
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#include <avr/pgmspace.h>
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#include <ArduinoRobot.h>
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prog_char script1[] PROGMEM="Wheel Calibration\n";
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prog_char script2[] PROGMEM="1. Put Robot on a flat surface\n";
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prog_char script3[] PROGMEM="2. Adjust speed with the knob on top\n";
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prog_char script4[] PROGMEM="3. If robot goes straight, it's done\n";
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prog_char script5[] PROGMEM="4. Use screwdriver on the trim on bottom\n";
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prog_char script6[] PROGMEM="Robot turns left, screw it clockwise;\n";
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prog_char script7[] PROGMEM="Turns right, screw it ct-colockwise;\n";
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prog_char script8[] PROGMEM="5. Repeat 4 until going straight\n";
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char buffer[42];//must be longer than text
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PROGMEM const char *scripts[]={
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script1,
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script2,
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script3,
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script4,
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script5,
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script6,
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script7,
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script8,
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};
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void getPGMtext(int seq){
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strcpy_P(buffer,(char*)pgm_read_word(&(scripts[seq])));
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}
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void writePGMtext(int seq){
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getPGMtext(seq);
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Robot.print(buffer);
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}
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void writeScript(int seq){
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writePGMtext(seq);
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}
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void writeAllScripts(){
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for(int i=0;i<8;i++){
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writeScript(i);
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}
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}
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