From 31ee07c943dad03f6972d25fe7a20d57afb6ddaf Mon Sep 17 00:00:00 2001 From: Aaron John Sabu <aaronjohnsabu1999@gmail.com> Date: Fri, 8 Oct 2021 23:23:54 -0700 Subject: [PATCH] Added motor test code --- Code/LIDAR_Code/Lidar_demo/Lidar_demo.ino | 21 +++++----- Code/Motor-Test-Aaron/Motor-Test-Aaron.ino | 47 ++++++++++++++++++++++ 2 files changed, 58 insertions(+), 10 deletions(-) create mode 100644 Code/Motor-Test-Aaron/Motor-Test-Aaron.ino diff --git a/Code/LIDAR_Code/Lidar_demo/Lidar_demo.ino b/Code/LIDAR_Code/Lidar_demo/Lidar_demo.ino index 43f00e1..9a68310 100644 --- a/Code/LIDAR_Code/Lidar_demo/Lidar_demo.ino +++ b/Code/LIDAR_Code/Lidar_demo/Lidar_demo.ino @@ -1,4 +1,3 @@ - #include <Wire.h> #include <SparkFun_VL53L1X.h> // https://github.com/sparkfun/SparkFun_VL53L1X_Arduino_Library/ @@ -9,7 +8,7 @@ #include <WiFi.h> #include <WiFiClient.h> -char auth[] = "cLUKk5penym7JGnFxo61dvNzG5p4y4Za"; +char auth[] = "4Mp_V5mFllQKyaSjzqwILkMZZTRSuPD-"; char ssid[] = "lemur"; char pass[] = "lemur9473"; @@ -31,7 +30,7 @@ int new_speed = 0 ; int flag = 0; void setup() { - Serial.begin(9600); +// Serial.begin(9600); Blynk.begin(auth, ssid, pass); AFMS.begin(); @@ -63,7 +62,7 @@ void turn_left(){ } void turn_right(){ - myMotor3->run(BACKWARD ); + myMotor3->run(BACKWARD); myMotor4->run(RELEASE); } @@ -98,14 +97,16 @@ void SpeedControl(int Speed){ void loop() { dist = distanceSensor.getDistance(); Serial.println(distanceSensor.getDistance()); - if (flag == 0){ - stopfb(); - stopud(); - }else if (flag == 1){ +// if (flag == 0){ +// stopfb(); +// stopud(); +// } +// else if (flag == 1){ if (dist < detect_thres){ SpeedControl(mt_speed); forward(); - }else if (dist > detect_thres){ + } + else if (dist > detect_thres){ /* Kp = (dist - detect_thres)/ 4000; Serial.println("kp: "); @@ -117,7 +118,7 @@ void loop() { SpeedControl(150); forward(); } - } +// } Blynk.run(); } diff --git a/Code/Motor-Test-Aaron/Motor-Test-Aaron.ino b/Code/Motor-Test-Aaron/Motor-Test-Aaron.ino new file mode 100644 index 0000000..9208590 --- /dev/null +++ b/Code/Motor-Test-Aaron/Motor-Test-Aaron.ino @@ -0,0 +1,47 @@ +// Motor Test Code - Aaron + +#include <Wire.h> +#include <Adafruit_MotorShield.h> + +int largeVal = 255; +int smallVal = 127; + +Adafruit_MotorShield AFMS = Adafruit_MotorShield(); +Adafruit_DCMotor *motorVL = AFMS.getMotor(1); +Adafruit_DCMotor *motorVR = AFMS.getMotor(2); +Adafruit_DCMotor *motorHL = AFMS.getMotor(3); +Adafruit_DCMotor *motorHR = AFMS.getMotor(4); +void setup() { + AFMS.begin(); +} + +void loop() { + motorHR->setSpeed(0); + motorVL->setSpeed(largeVal); + motorVL->run(FORWARD); + delay(5000); + motorVL->setSpeed(smallVal); + motorVL->run(BACKWARD); + delay(5000); + motorVL->setSpeed(0); + motorVR->setSpeed(largeVal); + motorVR->run(FORWARD); + delay(5000); + motorVR->setSpeed(smallVal); + motorVR->run(BACKWARD); + delay(5000); + motorVR->setSpeed(0); + motorHL->setSpeed(largeVal); + motorHL->run(FORWARD); + delay(5000); + motorHL->setSpeed(smallVal); + motorHL->run(BACKWARD); + delay(5000); + motorHL->setSpeed(0); + motorHR->setSpeed(largeVal); + motorHR->run(FORWARD); + delay(5000); + motorHR->setSpeed(smallVal); + motorHR->run(BACKWARD); + delay(5000); +} -- GitLab