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RangerCode.txt

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+#include <Arduino.h>;
+#include <Wire.h>;
+#include <SoftwareSerial.h>;
+#include <MeAuriga.h>;
+
+float distance = 0;
+MeRGBLed rgbled_0(0, 12);
+MeLineFollower linefollower_9(9);
+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);
+}
+MeBuzzer buzzer;
+MeUltrasonicSensor ultrasonic_10(10);
+
+
+void _loop(){
+    Encoder_1.loop();
+    Encoder_2.loop();
+}
+void _delay(float seconds){
+	long endTime = millis() + seconds * 1000;
+	while(millis() < endTime)_loop();
+}
+void setup(){
+    rgbled_0.setpin(44);
+    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);
+    buzzer.setpin(45);
+
+}
+void loop(){
+    rgbled_0.setColor(3,#3bff00);
+    rgbled_0.show();
+    if(1?(3==0?linefollower_9.readSensors()==0:(linefollower_9.readSensors() & 3)==3):(3==0?linefollower_9.readSensors()==3:(linefollower_9.readSensors() & 3)==0)){
+        move(1,100/100.0*255);
+        buzzer.tone(65, 0.25>0?0.25*1000:0);
+        delay(20);
+
+    }
+    if(0?(2==0?linefollower_9.readSensors()==0:(linefollower_9.readSensors() & 2)==2):(2==0?linefollower_9.readSensors()==3:(linefollower_9.readSensors() & 2)==0)){
+        rgbled_0.setColor(4,#0400ff);
+        rgbled_0.show();
+        Encoder_1.setTarPWM(0);
+        Encoder_2.setTarPWM(0);
+        move(4,100/100.0*255);
+        _delay(1.5);
+        move(4,0);
+        buzzer.tone(110, 0.25>0?0.25*1000:0);
+        delay(20);
+
+    }
+    if(0?(1==0?linefollower_9.readSensors()==0:(linefollower_9.readSensors() & 1)==1):(1==0?linefollower_9.readSensors()==3:(linefollower_9.readSensors() & 1)==0)){
+        rgbled_0.setColor(4,#ff006e);
+        rgbled_0.show();
+        Encoder_1.setTarPWM(0);
+        Encoder_2.setTarPWM(0);
+        move(3,100/100.0*255);
+        _delay(1.5);
+        move(3,0);
+        buzzer.tone(196, 0.25>0?0.25*1000:0);
+        delay(20);
+        if(1?(0==0?linefollower_9.readSensors()==0:(linefollower_9.readSensors() & 0)==0):(0==0?linefollower_9.readSensors()==3:(linefollower_9.readSensors() & 0)==0)){
+            rgbled_0.setColor(6,#ffc300);
+            rgbled_0.show();
+            Encoder_1.setTarPWM(0);
+            Encoder_2.setTarPWM(0);
+            move(2,100/100.0*255);
+            _delay(1.5);
+            move(2,0);
+            move(4,100/100.0*255);
+            _delay(1.5);
+            move(4,0);
+            buzzer.tone(4699, 0.25>0?0.25*1000:0);
+            delay(20);
+
+        }
+        distance = ultrasonic_10.distanceCm();
+        if(ultrasonic_10.distanceCm() < 15){
+            rgbled_0.setColor(0,255,0,0);
+            rgbled_0.show();
+            buzzer.tone(123, 0.75>0?0.75*1000:0);
+            delay(20);
+            move(1,100/100.0*255);
+            _delay(1);
+            move(1,0);
+            rgbled_0.setColor(0,0,0,0);
+            rgbled_0.show();
+            Encoder_1.setTarPWM(0);
+            Encoder_2.setTarPWM(0);
+
+        }
+
+    }
+
+    _loop();
+
+}