testeLinha.ino

sharpTeste

@@ -0,0 +1,27 @@
+# include  <analogWrite.h>
+# define  sharpFE  39
+# define  sharpFD  34
+//# define  sharpE  35
+# define  sharpFC  36
+ void setup() {
+
+  pinMode (sharpFC, INPUT);
+  pinMode (sharpFE, INPUT);
+  pinMode (sharpFD, INPUT);
+//  pinMode (sharpE, INPUT);
+  Serial. begin ( 9600 );
+
+}
+
+ void loop() {
+
+  if(analogRead(39) > 2000){
+    Serial.println("Aproximação pelo lado direito");
+    }else if(analogRead(34) > 2000){
+        Serial.println("Aproximação pelo centro");      
+      }else if(analogRead(36) > 2000){
+          Serial.println("Aproximação pela esquerda");
+        }
+
+  delay(500);
+}

testeLinha.ino

@@ -0,0 +1,26 @@
+#include <analogWrite.h>
+//#define lineC 2
+#define lineD 15
+#define lineE 4
+
+void setup() {
+  pinMode(lineE, INPUT);
+  pinMode(lineD, INPUT);
+  Serial.begin(9600);
+}
+int media10(int i){
+    int media=0;
+    for(int a=0;a<1000;a++){
+        media+=analogRead(i);
+    }
+    return media/1000;
+}
+
+void loop() {
+  Serial.print(media10(lineD));
+  Serial.print(" ");
+  //Serial.print(media10(lineC));
+  Serial.print(" ");
+  Serial.println(media10(lineE));
+  delay(500);
+}

valquiriaCode

@@ -0,0 +1,183 @@
+#include <BluetoothSerial.h>
+//#include <LinkedList.h>
+//#include <Gaussian.h>
+//#include <GaussianAverage.h>
+#include <analogWrite.h>
+
+#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
+#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
+#endif
+
+BluetoothSerial SerialBT;
+
+char BT = 'f';
+int tempo = 4900;
+char estrategia = 'f';
+char lupi = '2';
+
+  #define sharpE 36
+  #define sharpFE 39
+  #define sharpFD 34
+
+  #define pwmB 25
+  #define b1 33
+  #define b2 26
+  #define stby 27
+  #define a1 14
+  #define a2 12
+  #define pwmA 13
+  //sensor de linha
+  #define linhaD 15
+  #define linhaE 4
+
+  bool direc = true;
+
+void setup() {
+  pinMode(pwmB, OUTPUT);
+  pinMode(b1, OUTPUT);
+  pinMode(b2, OUTPUT);
+  pinMode(stby, OUTPUT);
+  pinMode(a1, OUTPUT);
+  pinMode(a2, OUTPUT);
+  pinMode(pwmA, OUTPUT);
+  pinMode(linhaE, INPUT);
+  pinMode(linhaD, INPUT);
+  pinMode(sharpE, INPUT);
+  pinMode(sharpFE, INPUT);
+  pinMode(sharpFD, INPUT);
+  digitalWrite(stby,1);
+
+  SerialBT.begin("Valquiria"); //Bluetooth device name
+
+  SerialBT.println("LIGOUUUU");
+
+  //enquanto serial não receber 0, troca de estretégia é possível
+
+  while(BT != '0'){
+
+      if(SerialBT.available()) {
+          BT = SerialBT.read();
+          Serial.print(BT);
+      }
+
+      if(BT == '+'){
+          tempo += 100;
+      }else if(BT == '-'){
+          tempo -= 100; 
+      }else if(BT == '<'){//escolha de direção
+          direc = false;        
+      }else if(BT == '>'){//escolha de direção
+          direc = true;        
+      }else if(BT == 'C'){
+          SerialBT.println("Check");
+          SerialBT.print("Estrategia: ");
+          SerialBT.println(estrategia);
+          SerialBT.print("Loop: ");
+          SerialBT.println(lupi);
+          SerialBT.print("Direc: ");
+          if(direc) SerialBT.println("direita");
+          else SerialBT.println("esquerda"); 
+          SerialBT.print("Delay: ");
+          SerialBT.println(tempo);  
+      }else if(BT == '0') {
+        break;
+      }else {
+          if(!(BT == 13 || BT == 10 || (BT>48 && BT<58))){
+              estrategia = BT;
+          }
+          if(BT>48 && BT<58){
+            lupi = BT;
+          }
+      }
+
+  }
+  delay(tempo);
+  //SerialBT.println("Start");
+  //SerialBT.println(lupi);
+  //SerialBT.println(estrategia);
+
+  switch (estrategia){
+    case 'a': //frentao
+      frente(200, 200);
+      SerialBT.print("FRENTAAO");
+      delay(500);
+    break;
+
+    case 'b':  //curvao
+      if(direc){
+        esquerda(250,250);
+        delay(120);
+        frente(250, 110);
+        delay(1000);
+      }
+      else{
+        direita(250,250);
+        delay(120);
+        frente(120, 250);
+        delay(1000);
+      }
+      break;
+
+  }
+}
+
+void loop() {
+
+  if(sharpFD > 1000 || sharpFE > 1000){
+        frente(250, 250);
+    }else if(sharpE > 1000){
+      esquerda(250, 250);
+      delay(100);
+      }else{
+      direita(250, 250);
+      }
+
+
+   if(linhaD > 70 || linhaE > 70){
+      tras(200, 200);
+      delay(200);
+      esquerda(200, 200);
+      delay(200);
+    }
+
+  }
+  /*if(SerialBT.available()){
+      BT = SerialBT.read();
+      if(BT == 'S') digitalWrite(stby,0);
+  }*/
+
+
+
+
+void tras(int pa, int pb){
+  digitalWrite(b1,1);
+  digitalWrite(b2,0);
+  digitalWrite(a1,1);
+  digitalWrite(a2,0);
+  analogWrite(pwmB, pb);
+  analogWrite(pwmA, pa);
+}
+void frente(int pa, int pb){
+  digitalWrite(b1,0);
+  digitalWrite(b2,1);
+  digitalWrite(a1,0);
+  digitalWrite(a2,1);
+  analogWrite(pwmB, pb);
+  analogWrite(pwmA, pa);
+}
+void esquerda(int pa, int pb){
+  digitalWrite(b1,0);
+  digitalWrite(b2,1);
+  digitalWrite(a1,1);
+  digitalWrite(a2,0);
+  analogWrite(pwmB, pb);
+  analogWrite(pwmA, pa);
+ }
+void direita(int pa, int pb){
+  digitalWrite(b1,1);
+  digitalWrite(b2,0);
+  digitalWrite(a1,0);
+  digitalWrite(a2,1);
+  analogWrite(pwmB, pb);
+  analogWrite(pwmA, pa);
+  }