ActivityBot 360 IR distance test and IR following examples

Add examples to ActivityBoe360 folder for IR distance detection and following.

Learn/Examples/Robots/ActivityBot360/IR Follow the Leader.c

@@ -0,0 +1,49 @@
+/*
+  IR Follow the Leader.c
+
+  Follow another ActivityBot 360, your hand and other targets.
+
+  http://learn.parallax.com/activitybot/ir-follow-the-leader
+*/
+
+#include "simpletools.h"                        // Include simpletools
+#include "abdrive360.h"
+
+int irLeft, irRight;                            // Global variables
+int errorLeft, errorRight;
+int driveLeft, driveRight;
+int setPoint = 4; 
+int kp = -12;
+
+int main()                                      // Main function
+{
+  pwm_start(255);
+
+  low(26);                                      // D/A0 & D/A1 to 0 V
+  low(27);
+
+  while(1)                                      // Main loop
+  {
+    irLeft = 0;                                 // Detect variables to 0
+    irRight = 0;
+
+    for(int da = 189; da >= 0; da -= 27)        // Sweep da pins 
+    {
+      pwm_set(26, 0, da); 
+      pwm_set(27, 1, da);
+      freqout(11, 1, 38000);                    // Left IR LED light
+      irLeft += input(10);                      // Check left IR detector
+      freqout(1, 1, 38000);                     // Repeat for right detector
+      irRight += input(2);
+    }   
+
+    errorLeft = setPoint - irLeft;
+    errorRight = setPoint - irRight;
+
+    driveLeft = kp * errorLeft;
+    driveRight = kp * errorRight;
+
+    drive_speed(driveLeft, driveRight);
+  }
+}
+

Learn/Examples/Robots/ActivityBot360/IR Follow the Leader.side

@@ -0,0 +1,9 @@
+IR Follow the Leader.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

Learn/Examples/Robots/ActivityBot360/Test IR Distances.c

@@ -0,0 +1,41 @@
+/*
+  IR Test Distances.c
+
+  Test distance detection with infrared detectors.
+
+  http://learn.parallax.com/activitybot/ir-test-distances
+*/
+
+#include "simpletools.h"                        // Include simpletools
+#include "abdrive360.h"
+
+int irLeft, irRight;                            // Global variables
+
+int main()                                      // Main function
+{
+  pwm_start(255);
+
+  low(26);                                      // D/A0 & D/A1 to 0 V
+  low(27);
+
+  while(1)                                      // Main loop
+  {
+    irLeft = 0;                                 // Detect variables to 0
+    irRight = 0;
+
+    for(int da = 189; da >= 0; da -= 27)        // Sweep da pins 
+    {
+      pwm_set(26, 0, da); 
+      pwm_set(27, 1, da);
+      freqout(11, 1, 38000);                    // Left IR LED light
+      irLeft += input(10);                      // Check left IR detector
+      freqout(1, 1, 38000);                     // Repeat for right detector
+      irRight += input(2);
+    }   
+
+    print("%c irLeft = %d, irRight = %d     ",  // Display detector states
+           HOME,       irLeft,       irRight);
+    pause(100);                                 // Pause before repeating
+  }
+}
+

Learn/Examples/Robots/ActivityBot360/Test IR Distances.side

@@ -0,0 +1,9 @@
+Test IR Distances.c
+>compiler=C
+>memtype=cmm main ram compact
+>optimize=-Os
+>-m32bit-doubles
+>-fno-exceptions
+>defs::-std=c99
+>-lm
+>BOARD::ACTIVITYBOARD

version.txt

@@ -1 +1 @@
-v1.4.118
+v1.4.119