project.py

# project
# my mbot project
#that my simple code of mbot project which avoids obsticles
{       include <Arduino.h>;
include <Wire.h>;
include <SoftwareSerial.h>;
include <MeAuriga.h>;

MeUltrasonicSensor ultrasonic_10(10);
MeEncoderOnBoard Encoder_1(SLOT1);
MeEncoderOnBoard Encoder_2(SLOT2);
void isr_process_encoder1(void)
{
      if(digitalRead(Encoder_1.getPortB()) == 0){
            Encoder_1.pulsePosMinus();
      }else{
            Encoder_1.pulsePosPlus();
      }
}
void isr_process_encoder2(void)
{
      if(digitalRead(Encoder_2.getPortB()) == 0){
            Encoder_2.pulsePosMinus();
      }else{
            Encoder_2.pulsePosPlus();
      }
}
void move(int direction, int speed)
{
      int leftSpeed = 0;
      int rightSpeed = 0;
      if(direction == 1){
            leftSpeed = -speed;
            rightSpeed = speed;
      }else if(direction == 2){
            leftSpeed = speed;
            rightSpeed = -speed;
      }else if(direction == 3){
            leftSpeed = -speed;
            rightSpeed = -speed;
      }else if(direction == 4){
            leftSpeed = speed;
            rightSpeed = speed;
      }
      Encoder_1.setTarPWM(leftSpeed);
      Encoder_2.setTarPWM(rightSpeed);
}
MeRGBLed rgbled_0(0, 12);
MeGyro gyro_0(0, 0x69);


void _loop(){
    Encoder_1.loop();
    Encoder_2.loop();
    gyro_0.update();
}
void _delay(float seconds){
	long endTime = millis() + seconds * 1000;
	while(millis() < endTime)_loop();
}
void setup(){
    TCCR1A = _BV(WGM10);
    TCCR1B = _BV(CS11) | _BV(WGM12);
    TCCR2A = _BV(WGM21) | _BV(WGM20);
    TCCR2B = _BV(CS21);
    attachInterrupt(Encoder_1.getIntNum(), isr_process_encoder1, RISING);
    attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2, RISING);
    rgbled_0.setpin(44);
    gyro_0.begin();

}
void loop(){
    if(ultrasonic_10.distanceCm() > 30){
        move(1,50/100.0*255);
        rgbled_0.setColor(1,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(2,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(3,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(4,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(5,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(6,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(7,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(8,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(9,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(10,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(11,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();
        _delay(0.01);
        rgbled_0.setColor(12,random(1, 255 +1),random(1, 255 +1),random(1, 255 +1));
        rgbled_0.show();

    }else{
        move(2,50/100.0*255);
        rgbled_0.setColor(0,#ff0000);
        rgbled_0.show();
        move(3,50/100.0*255);
        _delay(1);
        move(3,0);

    }
    if(gyro_0.getAngle(1) > 20){
        Encoder_1.setTarPWM(0);
        Encoder_2.setTarPWM(0);
        rgbled_0.setColor(0,#ff0000);
        rgbled_0.show();

    }

    _loop();

}
}