Adicionando arquivo

robo_limpeza/robo_limpeza.ino

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+// Programação de um robô de limpeza
+// Feito na aula de Programação para Engenharia Elétrica
+
+#define INTERRUPT_PIN 2
+#define BLUE_LED 3
+#define RED_LED 4
+
+#define R_MOTOR_PIN_A 6 
+#define R_MOTOR_PIN_B 5
+#define L_MOTOR_PIN_A 10 
+#define L_MOTOR_PIN_B 11
+
+#define FORWARD 0
+#define BACKWARD 1
+#define STOP -1
+
+void setup() {
+  // LOW and HIGH -> forward
+  // HIGH and LOW -> backward
+  pinMode(R_MOTOR_PIN_A, OUTPUT);
+  pinMode(R_MOTOR_PIN_B, OUTPUT);
+
+  // LOW and HIGH -> forward
+  // HIGH and LOW -> backward
+  pinMode(L_MOTOR_PIN_A, OUTPUT);
+  pinMode(L_MOTOR_PIN_B, OUTPUT);
+
+  // BLUE and RED LED
+  pinMode(BLUE_LED, OUTPUT);
+  pinMode(RED_LED, OUTPUT);
+
+  // sensor digital input
+  // pinMode(INTERRUPT_PIN, INPUT);
+
+  // interruption
+  // pinMode(INTERRUPT_PIN, INPUT_PULLUP);
+  // attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), interrupt_function, LOW);
+  // noInterrupts();
+  // interrupts();
+
+  Serial.begin(9600);
+  // Serial.println();
+}
+
+void loop() {
+
+  // Robot ON
+  digitalWrite(RED_LED, HIGH);
+
+}
+
+int left_is_clear(void){
+  int state;
+  r_motor(FORWARD);
+  l_motor(STOP);
+  delay(250); 
+  state = digitalRead(INTERRUPT_PIN);
+  r_motor(BACKWARD);
+  l_motor(STOP);
+  delay(250);  
+  return state;
+}
+
+int front_is_clear(void){
+  return digitalRead(INTERRUPT_PIN);
+}
+
+void turn_left(void){
+  r_motor(FORWARD);
+  l_motor(BACKWARD);
+  delay(1080);
+  r_motor(STOP);
+  l_motor(STOP); 
+}
+
+void move(void) {
+  r_motor(FORWARD);
+  l_motor(FORWARD);
+  delay(25);
+  r_motor(STOP);
+  l_motor(STOP);  
+}
+
+void r_motor(int direction){
+  if(direction != STOP){  
+    digitalWrite(R_MOTOR_PIN_A, direction);
+    digitalWrite(R_MOTOR_PIN_B, !direction);
+  }
+  else {
+    digitalWrite(R_MOTOR_PIN_A, LOW);
+    digitalWrite(R_MOTOR_PIN_B, LOW); 
+  }
+}
+
+void l_motor(int direction){
+  if(direction != STOP){  
+    digitalWrite(L_MOTOR_PIN_A, direction);
+    digitalWrite(L_MOTOR_PIN_B, !direction);
+  }
+  else {
+    digitalWrite(L_MOTOR_PIN_A, LOW);
+    digitalWrite(L_MOTOR_PIN_B, LOW); 
+  }
+}
+
+void r_motor_velocity(int velocity){
+  // LOW and HIGH -> foward
+  // HIGH and LOW -> reverse
+  // R_MOTOR_PIN_A > R_MOTOR_PIN_B -> foward
+  // R_MOTOR_PIN_B > R_MOTOR_PIN_A -> reverse
+  if(velocity){
+    analogWrite(R_MOTOR_PIN_A, 127-velocity); 
+    analogWrite(R_MOTOR_PIN_B, 127+velocity);
+  }
+  else {
+    digitalWrite(R_MOTOR_PIN_A, LOW);
+    digitalWrite(R_MOTOR_PIN_B, LOW);
+  }
+}
+
+void l_motor_velocity(int velocity){
+  // LOW and HIGH -> foward
+  // HIGH and LOW -> reverse
+  // R_MOTOR_PIN_A > R_MOTOR_PIN_B -> foward
+  // R_MOTOR_PIN_B > R_MOTOR_PIN_A -> reverse
+  if(velocity){
+    analogWrite(L_MOTOR_PIN_A, 127-velocity); 
+    analogWrite(L_MOTOR_PIN_B, 127+velocity);
+  }
+  else {
+    digitalWrite(L_MOTOR_PIN_A, LOW);
+    digitalWrite(L_MOTOR_PIN_B, LOW);
+  }
+}
+
+void interrupt_function() {
+  ;
+}