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LineFollowing1.ino
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#include <Servo.h>
#include <MeetAndroid.h>
Servo servoLeft;
Servo servoRight;
MeetAndroid meetAndroid;
int onboardLed = 13;
int i = 0;
unsigned long time;
unsigned long tinit = 0;
int sensorPin = 3;
int sensorPin1 = 6;
int sensorPin2 = 7;
int qti[3];
int n = 0;
int threshold = 20;
long result = 0;
void setup()
{
Serial.begin(9600);
Serial.println("start");
meetAndroid.registerFunction(testEvent, 'A');
meetAndroid.registerFunction(forward, 'b' );
tone(4, 3000, 1000);
pinMode(onboardLed, OUTPUT);
digitalWrite(onboardLed, HIGH);
servoLeft.attach(11);
servoRight.attach(10);
tinit = micros();
}
//float threshold = RCtime(sensorPin)-((RCtime(sensorPin)+RCtime(sensorPin2))/2);
//read & navigate function
void loop()
{
meetAndroid.receive();
//Serial.println(threshold);
time = micros() - tinit;
if (RCtime(sensorPin)>= threshold){
qti[0] = 1;}
else{
qti[0]=0;}
if (RCtime(sensorPin1)>= threshold){
qti[1] = 1;}
else{
qti[1]=0;}
if (RCtime(sensorPin2)>= threshold){
qti[2] = 1;}
else{
qti[2]=0;}
if(qti[0]==0 && qti[1]==1 && qti[2]==0){
servoLeft.writeMicroseconds(1700);
servoRight.writeMicroseconds(1300);
}
else if(qti[0]==1 && qti[1]==1 && qti[2]==0){
servoLeft.writeMicroseconds(1700);
servoRight.writeMicroseconds(1500);
}
else if(qti[0]==1 && qti[1]==0 && qti[2]==0){
servoLeft.writeMicroseconds(1700);
servoRight.writeMicroseconds(1700);
}
else if(qti[0]==0 && qti[1]==1 && qti[2]==1){
servoLeft.writeMicroseconds(1500);
servoRight.writeMicroseconds(1300);
}
else if(qti[0]==0 && qti[1]==0 && qti[2]==1){
servoLeft.writeMicroseconds(1300);
servoRight.writeMicroseconds(1300);
}
else if(qti[0]==1 && qti[1]==1 && qti[2]==1){
servoLeft.writeMicroseconds(1500);
servoRight.writeMicroseconds(1500);
i++;
if(i>=5){
meetAndroid.send("The Robot has Stopped:");
meetAndroid.send(i);
meetAndroid.send(time);
}
}
delayMicroseconds(40);
//servoLeft.writeMicroseconds(1700);
//servoRight.writeMicroseconds(1300);
//Serial.println(qti[0]);
//Serial.println(qti[1]);
//Serial.println(qti[2]);
}
long RCtime(int sensPin){
long result = 0;
pinMode(sensPin, OUTPUT);
digitalWrite(sensPin, HIGH);
delay(1);
pinMode(sensPin, INPUT);
digitalWrite(sensPin, LOW);
while(digitalRead(sensPin)){
result++;
}
return result;
}
void testEvent(byte flag, byte numOfValues)
{
flushLed(300);
flushLed(300);
}
void flushLed(int time)
{
digitalWrite(onboardLed, LOW);
delay(time);
digitalWrite(onboardLed, HIGH);
delay(time);
}
void forward(byte flag, byte numOfValues)
{
servoLeft.writeMicroseconds(1700);
servoRight.writeMicroseconds(1300);
delay(100);
tinit = micros();
meetAndroid.send("The new initial time is:");
meetAndroid.send(tinit);
i = 0;
}