65 lines
2.7 KiB
C++
Executable File
65 lines
2.7 KiB
C++
Executable File
/*
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Arlo-Speed-Maneuvers
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Examples that use ArloRobot library to make the arlo travel in certain
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speeds for certain amounts of time.
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*/
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#include <ArloRobot.h> // Include Arlo library
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#include <SoftwareSerial.h> // Include SoftwareSerial library
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// Arlo and serial objects required
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ArloRobot Arlo; // Arlo object
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SoftwareSerial ArloSerial(12, 13); // Serial in I/O 12, out I/O 13
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int countsLeft, countsRight; // Encoder counting variables
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void setup() // Setup function
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{
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tone(4, 3000, 2000); // Piezospeaker beep
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Serial.begin(9600); // Start terminal serial port
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Serial.println("Sketch running..."); // Display starting message
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ArloSerial.begin(19200); // Start DHB-10 serial com
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Arlo.begin(ArloSerial); // Pass to Arlo object
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Arlo.clearCounts(); // Clear encoder counts
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Arlo.writeSpeeds(144, 144); // Go forward 144 counts/sec
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delay(3000); // for three seconds
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Arlo.writeSpeeds(0, 0); // Stop
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delay(1000); // for one second
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displayDistances(); // Display encoder counts
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Arlo.writeSpeeds(-72, 72); // Rotate seft 72 counts/sec
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delay(2000); // for two seconds
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Arlo.writeSpeeds(0, 0); // Stop
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delay(1000); // ...for one second
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displayDistances(); // Display encoder counts
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Arlo.writeSpeeds(72, -72); // Rotate right counts/sec
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delay(2000); // for two seconds
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Arlo.writeSpeeds(0, 0); // Stop
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delay(1000); // for one second
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displayDistances(); // Display encoder counts
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Arlo.writeSpeeds(-144, -144); // Go backward 144 counts/sec
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delay(3000); // for three seconds
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Arlo.writeSpeeds(0, 0); // Stop
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delay(1000); // for one second
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displayDistances(); // Display encoder counts
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}
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void loop() {} // Nothing for main loop
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void displayDistances()
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{
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countsLeft = Arlo.readCountsLeft(); // Get left & right encoder counts
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countsRight = Arlo.readCountsRight();
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Serial.print("countsLeft = "); // Display encoder measurements
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Serial.print(countsLeft, DEC);
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Serial.print(", countsRight = ");
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Serial.println(countsRight, DEC);
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}
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