Create project.py

project.py

@@ -0,0 +1,131 @@
+# 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();
+
+}
+}