.:: Motion Sensing Robot ::.
Robot that detects motion and runs away
This project is a robot that runs away from people while playing music. As of now I did not yet make the robot run away. For now it runs a demo program to demonstrate mobility. I am currently in the process of 3D printing blinders for the motion sensors. I am also waiting for the sound boards to arrive.
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1: #include <servo-01.h> 2: 3: // SENSORS
4: int front_sensor()
5: {6: int ret = 0;
7: if(input(pin_A0) == 1) {ret = 1;}
8: else {ret = 0;}
9: return ret;
10: } 11: 12: int right_sensor()
13: {14: int ret = 0;
15: if(input(pin_A1) == 1) {ret = 1;}
16: else {ret = 0;}
17: return ret;
18: } 19: 20: int rear_sensor()
21: {22: int ret = 0;
23: if(input(pin_A2) == 1) {ret = 1;}
24: else {ret = 0;}
25: return ret;
26: } 27: 28: int left_sensor()
29: {30: int ret = 0;
31: if(input(pin_A3) == 1) {ret = 1;}
32: else {ret = 0;}
33: return ret;
34: } 35: 36: // MOTOR CONTROL
37: void left_servo_backward()
38: {39: for (int i=0;i<3;i++)
40: { 41: output_high(PIN_B7); 42: delay_us(500); 43: output_low(PIN_B7); 44: delay_us(19500); 45: } 46: } 47: 48: void left_servo_forward()
49: {50: for (int j=0;j<3;j++)
51: { 52: output_high(PIN_B7); 53: delay_us(2500); 54: output_low(PIN_B7); 55: delay_us(17500); 56: } 57: } 58: 59: void right_servo_backward()
60: {61: for (int j=0;j<3;j++)
62: { 63: output_high(PIN_B6); 64: delay_us(2500); 65: output_low(PIN_B6); 66: delay_us(17500); 67: } 68: } 69: 70: void right_servo_forward()
71: {72: for (int i=0;i<3;i++)
73: { 74: output_high(PIN_B6); 75: delay_us(500); 76: output_low(PIN_B6); 77: delay_us(19500); 78: } 79: } 80: 81: // MOTION CONTROL
82: void go_forward(int amount)
83: {84: for(int i=0;i<amount;i++)
85: { 86: left_servo_forward(); 87: right_servo_forward(); 88: } 89: } 90: 91: void go_backward(int amount)
92: {93: for(int i=0;i<amount;i++)
94: { 95: left_servo_backward(); 96: right_servo_backward(); 97: } 98: } 99: 100: void turn_left(int amount)
101: {102: for(int i=0;i<amount;i++)
103: { 104: left_servo_backward(); 105: right_servo_forward(); 106: } 107: } 108: 109: void turn_right(int amount)
110: {111: for(int i=0;i<amount;i++)
112: { 113: left_servo_forward(); 114: right_servo_backward(); 115: } 116: } 117: 118: // AUDIO
119: void play_music()
120: { 121: output_high(PIN_B0); 122: delay_ms(100); 123: output_low(PIN_B0); 124: } 125: 126: // MAIN LOOP
127: void main()
128: { 129: setup_lcd(LCD_DISABLED); 130: 131: 132: set_tris_a(0b11111111); // PORTA input
133: set_tris_b(0b00000000); // PORTB output
134: 135: delay_ms(5000); // WAIT FOR SENSORS TO CLEAR
136: 137: while(TRUE) 138: { 139: 140: /*
141: if(front_sensor() == 1)
142: {
143: play_music();
144: go_backward(50);
145: delay_ms(5000);
146: }
147: if(rear_sensor() == 1)
148: {
149: play_music();
150: go_forward(50);
151: delay_ms(5000);
152: }
153: if(left_sensor() == 1)
154: {
155: play_music();
156: turn_right(8);
157: go_forward(50);
158: delay_ms(5000);
159: }
160: if(right_sensor() == 1)
161: {
162: play_music();
163: turn_left(8);
164: go_forward(50);
165: delay_ms(5000);
166: }
167: */
168: 169: // DEMO 01
170: turn_left(32); 171: turn_right(32); 172: delay_ms(1000); 173: 174: // DEMO 02
175: go_forward(20); 176: go_backward(20); 177: turn_right(8); 178: turn_left(8); 179: turn_left(8); 180: turn_right(8); 181: delay_ms(1000); 182: 183: // DEMO 03
184: go_forward(20); 185: turn_left(8); 186: go_forward(20); 187: turn_left(8); 188: go_forward(20); 189: turn_left(8); 190: go_forward(20); 191: turn_left(8); 192: delay_ms(1000); 193: 194: 195: } 196: 197: } 198: 199: