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ArloRobot/Arlo-Distance-Maneuvers/Arlo-Distance-Maneuvers.ino

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+/*
+  Arlo-Distance-Maneuvers
+  
+  Examples that use serial communication to make the arlo travel in certain
+  distances.
+*/
+
+
+#include <ArloRobot.h>                        // Include Arlo library
+#include <SoftwareSerial.h>                   // Include SoftwareSerial library
+
+// Arlo and serial objects required 
+ArloRobot Arlo;                               // Arlo object
+SoftwareSerial ArloSerial(12, 13);            // Serial in I/O 12, out I/O 13
+
+int countsLeft, countsRight;                  // Encoder counting variables
+void setup()                                  // Setup function
+{
+  tone(4, 3000, 2000);                        // Piezospeaker beep
+  Serial.begin(9600);                         // Start terminal serial port
+  Serial.println("Program running...");       // Display starting message
+  
+  ArloSerial.begin(19200);                    // Start DHB-10 serial com
+  Arlo.begin(ArloSerial);                     // Pass to Arlo object
+
+  Arlo.clearCounts();                         // Clear encoder counts
+
+  Arlo.writeCounts(144, 144);                 // Go forward 144 counts
+  delay(3000);                                // Wait three seconds
+  displayDistances();                         // Display encoder counts
+
+  Arlo.writeCounts(-72, 72);                  // Turn left 72 counts
+  delay(2000);                                // Wait two seconds
+  displayDistances();                         // Display encoder counts
+
+  Arlo.writeCounts(72, -72);                  // Turn right 72 counts
+  delay(2000);                                // Wait 2 seconds
+  displayDistances();                         // Display encoder counts
+
+  Arlo.writeCounts(-144, -144);               // Back up 144 counts
+  delay(3000);                                // Wait three seconds
+  displayDistances();                         // Display encoder counts
+}
+
+void loop() {}                                // Nothing for main loop
+
+void displayDistances()
+{
+  countsLeft = Arlo.readCountsLeft();         // Get left & right encoder counts
+  countsRight = Arlo.readCountsRight();
+
+  Serial.print("countsLeft = ");              // Display encoder measurements 
+  Serial.print(countsLeft, DEC);
+  Serial.print(", countsRight = ");
+  Serial.println(countsRight, DEC);
+}