int main()
{
//Turn off the IR proximity sensors and the IR sharp sensor.
DDRH |= (1 << 2) | (1 << 3);
PORTH |= (1 << 2) | (1 << 3);
//Turn off the white line sensors.
DDRG |= (1 << 2);
PORTG |= (1 << 2);
set_motors();
while(1)
{
velocity(forwardLeftSpeed, forwardRightSpeed);
forward_mm(1000);
stop();
_delay_ms(3000);
velocity(backLeftSpeed, backRightSpeed);
back_mm(1000);
stop();
_delay_ms(3000);
velocity(leftLeftSpeed, leftRightSpeed);
left_degrees(90);
stop();
_delay_ms(3000);
velocity(rightLeftSpeed, rightRightSpeed);
right_degrees(90);
stop();
_delay_ms(3000);
right_degrees(90);
stop();
_delay_ms(3000);
velocity(leftLeftSpeed, leftRightSpeed);
left_degrees(90);
stop();
_delay_ms(3000);
}
}
void rotate_right_slowly()
{
//velocity(150,150);
while(1)
{
stop();
read_sensor();
// For center black line
if(Center_white_line>0x20)
{
break;
}
else
{
right_degrees(10);
}
}
//velocity(130,130);
//stop();
}
void turn_right(int degree){
pen_up();
_delay_ms(100);
move_straight(245,1);
right_degrees(degree);
move_straight(255,0);
pen_down();
}
void turnRight() //turns the robo right
{
velocity(turn_v,turn_v);
forward_mm(85);
right_degrees(90);
dir = (dir + 1) % 4;
//..printf("Turn Right \n");
}
void turnLeft() //turns the robo left
{
velocity(turn_v,turn_v);
forward_mm(85);
right_degrees(90);
//..printf("Turn Left\n");
}
void terminalCheck2()
{
if (flag == 0)
{
if (dir == 0)
if (ot == 0 || ot == 1)
forward_mm(30);
else back_mm(30);
else if (ot == 0 || ot == 1)
back_mm(30);
else forward_mm(30);
flag = 1;
}
if (((ct == 0 || ct == 1) && dir == 0) || ((ct == 2 || ct == 3) && dir == 2))
{
left_degrees(30);
velocity(turn_v, turn_v);
while (ADC_Conversion(1)<70)
left();
// _delay_ms(100);
stop();
}
else if (((ct == 0 || ct == 1) && dir == 2) || ((ct == 2 || ct == 3) && dir == 0))
{
right_degrees(30);
velocity(turn_v, turn_v);
while (ADC_Conversion(1)<70)
right();
// _delay_ms(100);
stop();
}
else {
left_degrees(150);
velocity(turn_v, turn_v);
while (ADC_Conversion(1)<70)
left();
// _delay_ms(100);
stop();
}
//printf("Enter term[%d][%d]\n", ct, 1);
//scanf("%d", &term[ct][1]);
term[ct][1] = scan();
if(term[ct][1]==-1)
lcd_print(2,11,9, 1);
else
lcd_print(2,11, term[ct][1], 1);
_delay_ms(1000);
if (term[ct][1] == -1 || term[ct][1] == color[ct])
total--;
visited[ct] = 1;
visitedCount++;
}
int main() {
init_devices();
while(1){
forward_mm(50);
back_mm(50);
left_degrees(90);
right_degrees(90);
}
return 0;
}
void turnRight() //turns the robo right
{
if ((dir == 3 && (ot == 0 || ot == 1)) || (dir == 1 && (ot == 2 || ot == 3)))
{
velocity(turn_v, turn_v);
right_degrees(90);
}
else
{
right_degrees(30);
velocity(turn_v, turn_v);
while (ADC_Conversion(2)<70)
right();
// _delay_ms(100);
stop();
}
lcd("Right turn");
//_delay_ms(2000);
dir = (dir + 1) % 4;
//printf("Turn Right \n");
angle += 90;
}
void turn_bot(char ch) {
get_vector();
velocity(VELOCITY_MIN,VELOCITY_MIN);
/*
if (ch == 'l') {
velocity(VELOCITY_MAX,VELOCITY_MIN);
_delay_ms(2000);
}
else if (ch == 'r') {
velocity(VELOCITY_MIN,VELOCITY_MAX);
_delay_ms(2000);
}
*/
stop();
_delay_ms(1000);
if (ch == 'l')
left_degrees(90);
else
right_degrees(90);
/*
while (1) {
get_vector();
lcd_cursor(1,1);
lcd_string("LorR ");
L_velocity = VELOCITY_MIN;
R_velocity = VELOCITY_MIN;
if (Center_white_line > THRESHOLD) {
if (Left_white_line > THRESHOLD)
L_velocity = VELOCITY_MIN;
else if (Right_white_line > THRESHOLD)
R_velocity = VELOCITY_MIN;
}
else {
if (Left_white_line > THRESHOLD)
L_velocity = 20;
else if (Right_white_line > THRESHOLD)
R_velocity = 20;
}
velocity(L_velocity, R_velocity);
if (Center_white_line > THRESHOLD && Left_white_line < THRESHOLD && Right_white_line < THRESHOLD) {
break;
}
}
*/
}
int main(void)
{
init_devices();
while(1)
{
forward_mm(100); //Moves robot forward 100mm
stop();
_delay_ms(500);
back_mm(100); //Moves robot backward 100mm
stop();
_delay_ms(500);
left_degrees(90); //Rotate robot left by 90 degrees
stop();
_delay_ms(500);
right_degrees(90); //Rotate robot right by 90 degrees
stop();
_delay_ms(500);
soft_left_degrees(90); //Rotate (soft turn) by 90 degrees
stop();
_delay_ms(500);
soft_right_degrees(90); //Rotate (soft turn) by 90 degrees
stop();
_delay_ms(500);
soft_left_2_degrees(90); //Rotate (soft turn) by 90 degrees
stop();
_delay_ms(500);
soft_right_2_degrees(90); //Rotate (soft turn) by 90 degrees
stop();
_delay_ms(500);
}
}
void terminalCheck1()
{
forward_mm(30);
flag = 1;
if (ct != ot)
{
if (dir == 1 || dir == 3)
{
if (ot == 3 || ot == 0)
turnRight();
else turnLeft();
}
if (((ct == 0 || ct == 1) && dir == 2) || ((ct == 2 || ct == 3) && dir == 0))
turn();
front();
ot = ct;
}
right_degrees(50);
velocity(turn_v, turn_v);
while (ADC_Conversion(1)<70)
right();
// _delay_ms(100);
stop();
term[ct][0] = scan();
if(term[ct][0]==-1)
lcd_print(2,11,9, 1);
else
lcd_print(2,11, term[ct][0], 1);
_delay_ms(1000);
//printf("Enter term[%d][%d]\n", ct, 0);
//scanf("%d", &term[ct][0]);
lcd((char*)term[ct][0]);
if (term[ct][0] == -1 || term[ct][0] == color[ct])
total--;
}
//Main Function
int main()
{
init_devices();
while(1)
{
if(receive_data=='<')
{
lcd_cursor(1,1);
lcd_string("Drawing Completed");
lcd_cursor(2,1);
lcd_string("NEX ROBOTICS IND");
}
if(receive_data=='[')
{
S2=0x78;
_delay_ms(1000);
}
if(receive_data==']')
{
S2=0x7F;
_delay_ms(1000);
}
if(receive_data == 'r'||receive_data == 'g'||receive_data == 'b')
{
//uart0_clr();
color=receive_data;
receive_data='0';
//continue;
}
if(receive_data == 'w'||receive_data == 'a'||receive_data == 'd'||receive_data == 's')
{
//uart0_clr();
flag=receive_data;
receive_data='0';
//continue;
}
if(receive_data == 't'||receive_data == 'h')
{
digit=receive_data;
receive_data='0';
}
if(color=='r'&&flag=='w'&&digit=='h')
{
if(receive_data=='1')
{
forward_mm(100);
receive_data='0';
//UDR='x';
}
if(receive_data=='2')
{
forward_mm(200);
receive_data='0';
//UDR='x';
}
if(receive_data=='3')
{
//S2=0x78; // 90 degree
//_delay_ms(1000);
forward_mm(300);
//_delay_ms(1000);
//S2=0x7F; // 180 degree
receive_data='0';
//UDR='x';
}
if(receive_data=='4')
{
forward_mm(400);
receive_data='0';
//UDR='x';
}
if(receive_data=='5')
{
forward_mm(500);
receive_data='0';
//UDR='x';
}
if(receive_data=='6')
{
forward_mm(600);
receive_data='0';
//UDR='x';
}
if(receive_data=='7')
{
forward_mm(700);
receive_data='0';
//UDR='x';
}
if(receive_data=='8')
{
forward_mm(800);
receive_data='0';
//UDR='x';
}
if(receive_data=='9')
{
forward_mm(900);
receive_data='0';
//UDR='x';
}
}
if(color=='r'&&flag=='w'&&digit=='t')
{
if(receive_data=='1')
{
forward_mm(11);
receive_data='0';
//UDR='x';
}
if(receive_data=='2')
{
forward_mm(20);
receive_data='0';
//UDR='x';
}
if(receive_data=='3')
{
forward_mm(30);
receive_data='0';
//UDR='x';
}
if(receive_data=='4')
{
forward_mm(40);
receive_data='0';
//UDR='x';
}
if(receive_data=='5')
{
forward_mm(50);
receive_data='0';
//UDR='x';
}
if(receive_data=='6')
{
forward_mm(60);
receive_data='0';
//UDR='x';
}
if(receive_data=='7')
{
forward_mm(70);
receive_data='0';
//UDR='x';
}
if(receive_data=='8')
{
forward_mm(80);
receive_data='0';
//UDR='x';
}
if(receive_data=='9')
{
forward_mm(90);
receive_data='0';
//UDR='x';
}
}
if(color=='r'&&flag=='s'&&digit=='h')
{
if(receive_data=='1')
{
back_mm(170);
receive_data='0';
//UDR='x';
}
}
if(color=='r'&&flag=='a'&&digit=='t')
{
if(receive_data=='1')
{
left_degrees(10);
receive_data='0';
//UDR='x';
}
if(receive_data=='2')
{
left_degrees(20);
receive_data='0';
//UDR='x';
}
if(receive_data=='3')
{
left_degrees(30);
receive_data='0';
//UDR='x';
}
if(receive_data=='4')
{
left_degrees(40);
receive_data='0';
//UDR='x';
}
if(receive_data=='5')
{
left_degrees(50);
receive_data='0';
//UDR='x';
}
if(receive_data=='6')
{
left_degrees(60);
receive_data='0';
//UDR='x';
}
if(receive_data=='7')
{
left_degrees(70);
receive_data='0';
//UDR='x';
}
if(receive_data=='8')
{
left_degrees(80);
receive_data='0';
//UDR='x';
}
if(receive_data=='9')
{
left_degrees(90);
receive_data='0';
//UDR='x';
}
}
if(color=='r'&&flag=='a'&&digit=='h')
{
if(receive_data=='1')
{
left_degrees(100);
receive_data='0';
//UDR='x';
}
if(receive_data=='2')
{
left_degrees(200);
receive_data='0';
//UDR='x';
}
if(receive_data=='3')
{
left_degrees(300);
receive_data='0';
//UDR='x';
}
}
if(color=='r'&&flag=='d'&&digit=='t')
{
if(receive_data=='1')
{
right_degrees(10);
receive_data='0';
//UDR='x';
}
if(receive_data=='2')
{
right_degrees(20);
receive_data='0';
//UDR='x';
}
if(receive_data=='3')
{
right_degrees(30);
receive_data='0';
//UDR='x';
}
if(receive_data=='4')
{
right_degrees(40);
receive_data='0';
//UDR='x';
}
if(receive_data=='5')
{
right_degrees(50);
receive_data='0';
//UDR='x';
}
if(receive_data=='6')
{
right_degrees(60);
receive_data='0';
//UDR='x';
}
if(receive_data=='7')
{
right_degrees(70);
receive_data='0';
//UDR='x';
}
if(receive_data=='8')
{
right_degrees(80);
receive_data='0';
//UDR='x';
}
if(receive_data=='9')
{
right_degrees(90);
receive_data='0';
//UDR='x';
}
}
if(color=='r'&&flag=='d'&&digit=='h')
{
if(receive_data=='1')
{
right_degrees(100);
receive_data='0';
//UDR='x';
}
if(receive_data=='2')
{
right_degrees(200);
receive_data='0';
//UDR='x';
}
if(receive_data=='3')
{
right_degrees(300);
receive_data='0';
//UDR='x';
}
}
}
}
//Main Function
int main()
{
init_devices();
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
if((Left_white_line>0x20) && (Center_white_line>0x20) && (Right_white_line>0x20))
{
if(lf == 1)
{
motion_set(0x05);
}
if (rf == 1)
{
motion_set(0x0A);
}
else
{
left_degrees(200);
}
}
if((Left_white_line<0x20) && (Center_white_line>0x20) && (Right_white_line<0x20))
{
forward();
_delay_ms(50);
}
if((Left_white_line>0x20) && (Center_white_line<0x20) && (Right_white_line<0x20))
{
left_degrees(5);
forward();
}
if((Left_white_line<0x20) && (Center_white_line<0x20) && (Right_white_line>0x20))
{
right_degrees(5);
forward();
}
if((Left_white_line>0x20) && (Center_white_line>0x20) && (Right_white_line<0x20))
{
left_degrees(5);
forward();
}
if((Left_white_line<0x20) && (Center_white_line>0x20) && (Right_white_line>0x20))
{
right_degrees(5);
forward();
}
if((Left_white_line>0x20) && (Center_white_line<0x20) && (Right_white_line>0x20))
{
stop();
}
if((Left_white_line<0x20) && (Center_white_line<0x20) && (Right_white_line<0x20))
{
/*if(flag == 0)
{
if(lf == 1)
{
right_degrees(120);
}
if(rf == 1)
{
left_degrees(120);
}
else
{
left_degrees(200);
//right_degrees(240);
//left_degrees(120);
//flag = 1;
}
}
else
stop();*/
}
//else
// flag = 0;
}
}
//Main Function
int main()
{
init_devices();
init_encoders();
lcd_set_4bit();
lcd_init();
int value=0;
forward();
velocity(130,130);
lcd_print(2,1,130,3);
lcd_print(2,5,130,3);
lcd_print(2,9,pathindex,2);
lcd_print(2,13,dirn,3);
while(1)
{
read_sensor();
follow();
if(isPlus())
{
read_sensor();
value = path[pathindex++];
// Code inserted for calculation of actual location wrt initial starting point ,
// It will consider direction also.
if (value == F)
{
// Move the bot forward, for location only , No movement on ground.
move_bot(FR);
}
else if (value == L)
{
// Move the bot left , for location only , No movement on ground.
move_bot(LT);
}
else if (value == R)
{
// Move the bot right, for location only , No movement on ground.
move_bot(RT);
}
else if (value == M)
{
// To stop the Bot and then break out
stop();
break;
}
orient(value);
/* lcd_print(2,9,pathindex,2);
lcd_print(2,13,dirn,3);
lcd_print(1,13,turnL,1);
lcd_print(1,15,turnR,1);
*/
}
if(turnL == 1)
{/*
lcd_print(1,13,turnL,1);
forward_mm(20);
stop();
velocity(180,180);
left_degrees(95);
//_delay_ms(120);
read_sensor();
// while(Left_white_line <0x40)
// {
// read_sensor();
// left();
// }
stop();
forward();
velocity(180,180);
turnL = 0;
*/
back_mm(50);
//stop();
//velocity(130,130);
stop();
left_degrees(50);
rotate_left_slowly();
forward();
velocity(130,130);
turnL = 0;
}
if(turnR == 1)
{
/*
lcd_print(1,15,turnR,1);
forward_mm(20);
stop();
velocity(180,180);
right_degrees(95);
//_delay_ms(200);
read_sensor();
// while(Right_white_line <0x30)
// {
// read_sensor();
// right();
// }
stop();
forward();
//follow();
velocity(180,180);
turnR = 0;
*/
back_mm(50);
//stop();
//velocity(130,130);
stop();
right_degrees(50);
rotate_right_slowly();
forward();
velocity(130,130);
turnR = 0;
}
}
// Three Beeps for Interval
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
//code to head-back to starting position , i.e. Origin
return_path_counter = reach_origin();
forward();
velocity(130,130);
int counter = 0;
int intermediate_value = 0;
while(counter < return_path_counter)
{
read_sensor();
follow();
if(isPlus())
{
read_sensor();
value = path_to_origin[counter];
counter++;
// Code inserted for calculation of actual location wrt initial starting point ,
// It will consider direction also.
if (intermediate_value == FR)
{
// Move the bot forward, for location only , No movement on ground.
value = F;
}
else if (value == LT)
{
// Move the bot left , for location only , No movement on ground.
value = L;
}
else if (value == RT)
{
// Move the bot right, for location only , No movement on ground.
value = R;
}
else if (value == ST)
{
value = M;
// specially inserted as break will not allow the bot to stop using "orient(value)".
orient(value);
break;
}
orient(value);
}
if(turnL == 1)
{
back_mm(50);
//stop();
//velocity(130,130);
stop();
left_degrees(50);
rotate_left_slowly();
forward();
velocity(130,130);
turnL = 0;
}
if(turnR == 1)
{
back_mm(50);
//stop();
//velocity(130,130);
stop();
right_degrees(50);
rotate_right_slowly();
forward();
velocity(130,130);
turnR = 0;
}
}
// Three beeps for Finish
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
}
int follow_wall()
{
unsigned long int ShaftCount;
unsigned long int Div;
ShaftCountRight = 0;
ShaftCountLeft = 0;
int row,state;
value_front = ADC_Conversion(11);
if(value_front>150)
{
//compute row and return
stop();
ShaftCount=(ShaftCountLeft+ShaftCountRight)/2;
row= ShaftCount/Div + 2 ;
state=1;
return(row) ;
}
value_1sens=ADC_Conversion(9);
if(value_1sens > 25 && value_1sens <50 )
{
velocity(forwardLeftSpeed, forwardRightSpeed);
forward();
}
else if(value_1sens < 25 && value_2sens > 50 )
{
//right
right_degrees(5);
leftSpeed=0;
rightSpeed=30;
// leftSpeed = forwardLeftSpeed - error*kp;
//rightSpeed = forwardRightSpeed + error*kp;
velocity(leftSpeed, rightSpeed);
}
else if(value_1sens >50 && value_2sens <25 )
{
left_degrees(5);
leftSpeed=30;
rightSpeed=0;
//leftSpeed = forwardLeftSpeed - error*kp;
//rightSpeed = forwardRightSpeed + error*kp;
velocity(leftSpeed, rightSpeed);
//left
}
return(0);
}
int main(void)
{
data = UDR0; //making copy of data from UDR0 in 'data' variable
UDR0 = data; //echo data back to PC
init_devices();
velocity (246, 250); //Set robot velocity here. Smaller the value lesser will be the velocity
//Try different valuse between 0 to 255
while(1)
{
if(data == 0x38) //ASCII value of 8
{
forward_mm(90); //Moves robot forward 100mm
stop();
_delay_ms(700);
}
if(data == 0x32) //ASCII value of 2
{
back_mm(90); //Moves robot backward 100mm
stop();
_delay_ms(700);
}
if(data == 0x34) //ASCII value of 4
{
left_degrees(90); //Rotate robot left by 90 degrees
stop();
_delay_ms(700);
}
if(data == 0x36) //ASCII value of 6
{
right_degrees(90); //Rotate robot right by 90 degrees
stop();
_delay_ms(700);
}
if(data == 0x67) //ASCII value of g
{
soft_left_degrees(90); //Rotate robot left by 90 degrees
stop();
_delay_ms(500);
}
if(data == 0x68) //ASCII value of h
{
soft_right_degrees(90); //Rotate robot right by 90 degrees
stop();
_delay_ms(500);
}
if(data == 0x69) //ASCII value of i
{
left_degrees(180); //Rotate robot left by 90 degrees
stop();
_delay_ms(500);
}
if(data == 0x70) //ASCII value of j
{
right_degrees(180); //Rotate robot right by 90 degrees
stop();
_delay_ms(500);
}
if(data == 0x35) //ASCII value of 5
{
stop();
_delay_ms(500);//stop
}
if(data == 0x37) //ASCII value of 7
{
buzzer_on();
}
if(data == 0x39) //ASCII value of 9
{
buzzer_off();
}
if(data == 0x61) //ASCII value of a
{
redled_on();
}
if(data == 0x62) //ASCII value of b
{
redled_off();
}
if(data == 0x63) //ASCII value of c
{
blueled_on();
}
if(data == 0x64) //ASCII value of d
{
blueled_off();
}
if(data == 0x65) //ASCII value of e
{
greenled_on();
}
if(data == 0x66) //ASCII value of f
{
greenled_off();
}
}
}
int main(void)
{
port_init();
init_devices();
int k=240;
int i=0;
while(i<3)
{
servo_1(180);//for opening the gripper
_delay_ms(200);
backward_mm_ext(290);//for releasing the thread as gripper goes down
stop();
_delay_ms(300);
servo_1(100);//for closing the gripper
_delay_ms(300);
forward_mm_ext(225);//for winding the thread so that gripper comes up
_delay_ms(200);
servo_1_free();//making servo free to rotate
_delay_ms(300);
velocity(170,200);
back_mm(k);
stop();
_delay_ms(300);
velocity(190,240);
right_degrees(100);
_delay_ms(200);
stop();
velocity(145,200);
forward_mm(400);//for moving robot in x direction
stop();
_delay_ms(300);
backward_mm_ext(225);
_delay_ms(600);
_delay_ms(1200);
servo_1(180);
_delay_ms(300);
forward_mm_ext(290);
stop();
_delay_ms(100);
velocity(170,200);
back_mm(400);
_delay_ms(300);
stop();
velocity(190,240);
left_degrees(90);
stop();
_delay_ms(60);
velocity(190,240);
forward_mm(k);//for moving robot in y direction
stop();
_delay_ms(300);
k=k-120;
i=i+1;//for 3 iteration
}
stop();
}
