Update final_project.ino

final_project/final_project.ino

@@ -13,25 +13,64 @@
 #include <ZumoShield.h>
 #include <NewPing.h>
 
+//defining motors speed and duration 
+#define REVERSE_SPEED 200 
+#define TURN_SPEED 200
+#define FORWARD_SPEED 400
+#define REVERSE_DURATION 500 
+#define TURN_DURATION 500
+#define FORWARD_DURATION 5000
+#define STOP 0 
+#define STOP_DURATION 100 
+
 //setting up ultrasound sensor pins and max distance 
 #define TRIGGER_PIN  13  
 #define ECHO_PIN     12  
 #define MAX_DISTANCE 200 
 
-NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); 
+NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
 
+//setting up Zumo robot
+ZumoBuzzer buzzer;
+ZumoReflectanceSensorArray reflectanceSensors;
+ZumoMotors motors;
+Pushbutton button(ZUMO_BUTTON);
+int lastError = 0;
+
+/*************************************************/
 
 void setup() {
-  // put your setup code here, to run once:
+  // for testing ultrasonic sensor:
 Serial.begin(115200);
 }
 
-void loop() {
-  // put your main code here, to run repeatedly:
-  delay(50);                      // Wait 50ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
-  unsigned int uS = sonar.ping(); // Send ping, get ping time in microseconds (uS).
+/*************************************************/
+
+void loop() 
+{
+  //learning how ultrasonic sensor works
+  delay(50);                      // pause 50ms between pings (about 20 pings/sec)
+  unsigned int uS = sonar.ping(); // this int gets ping time in microseconds (uS) after sending
   Serial.print("Ping: ");
   Serial.print(uS / US_ROUNDTRIP_CM); // Convert ping time to distance in cm and print result (0 = outside set distance range)
   Serial.println("cm");
 
+  // learning how motor setspeeds work with delay
+  motors.setSpeeds(FORWARD_SPEED,FORWARD_SPEED);
+  delay(FORWARD_DURATION);
+
+  motors.setSpeeds(TURN_SPEED, -TURN_SPEED);
+  delay(TURN_DURATION);
+
+  motors.setSpeeds(FORWARD_SPEED,FORWARD_SPEED);
+  delay(FORWARD_DURATION);
+
+  motors.setSpeeds(TURN_SPEED, -TURN_SPEED);
+  delay(TURN_DURATION);
+
+  motors.setSpeeds(STOP, STOP);
+  delay(STOP_DURATION);
+
+  motors.setSpeeds(REVERSE_SPEED,REVERSE_SPEED);
+  delay(REVERSE_DURATION);
 }