Scribd
Upload
55 views4 pages

Microcontroller Program Design

The document describes the program design for a microcontroller. It includes a flowchart labeled "Left Wall Algorithm" and the C++ code for the program. The code uses ultrasonic sensors to detect walls and control stepper motors to navigate a robot through a maze using a left wall following algorithm. It includes functions for moving forward, left, and right. The main loop uses conditional statements to check sensor readings and determine the appropriate motor movements to follow the left wall and navigate around obstacles.

Uploaded by

Alvin Sabado
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
55 views4 pages

Microcontroller Program Design

The document describes the program design for a microcontroller. It includes a flowchart labeled "Left Wall Algorithm" and the C++ code for the program. The code uses ultrasonic sensors to detect walls and control stepper motors to navigate a robot through a maze using a left wall following algorithm. It includes functions for moving forward, left, and right. The main loop uses conditional statements to check sensor readings and determine the appropriate motor movements to follow the left wall and navigate around obstacles.

Uploaded by

Alvin Sabado
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 4

3.

0 Microcontroller Program Design


3.1 Flowchart
Left Wall Algorithm

3.2 Code
/*
KilaBOT Final Program
Members:
Alvin
Virj
Brendy
Pomoy
Ken
Goldwyn
Tapec
*/
#include
#include
#include
#include
#include

<NewPing.h>
<AccelStepper.h>
<Wire.h>
<Adafruit_MotorShield.h>
"utility/Adafruit_PWMServoDriver.h"

// sets the Sensor's designated Digital pins (Trigger, Echo, Max. Distance)
NewPing PingFront(7, 6, 400);
NewPing PingLeft(5, 4, 400);
NewPing PingRight(3, 2, 400);
// calls the Motorshield to be recognized by the Arduino
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_StepperMotor *Rmotor = AFMS.getStepper(200, 2);
Adafruit_StepperMotor *Lmotor = AFMS.getStepper(200, 1);

// customized functions to simplify the flow of the program


void forward(){
Rmotor->onestep(FORWARD, DOUBLE);
Lmotor->onestep(BACKWARD, DOUBLE);
}
void left(){
Rmotor->onestep(FORWARD, DOUBLE);
Lmotor->onestep(FORWARD, DOUBLE);
}
void right(){
Rmotor->onestep(BACKWARD, DOUBLE);
Lmotor->onestep(BACKWARD, DOUBLE);

}
void setup(){
Serial.begin(115200);
AFMS.begin();
Rmotor->setSpeed(100); // Sets the max speed for Right motor
Lmotor->setSpeed(100); // Sets the max speed for Left motor
delay(2000);
}
void loop(){
// Check if there is a wall on the Left
unsigned int uS2 = PingLeft.ping();
unsigned int PINGLEFT = uS2 / US_ROUNDTRIP_CM;
// If there is a wall on the Left
if(PINGLEFT<15){
// Check if there is a wall on the Front
unsigned int uS1 = PingFront.ping();
unsigned int PINGFRONT = uS1 / US_ROUNDTRIP_CM;
// If there is a wall on the Front
if(PINGFRONT<7){
// Check if there is a wall on the Right
unsigned int uS3 = PingRight.ping();
unsigned int PINGRIGHT = uS3 / US_ROUNDTRIP_CM;
// If there is a wall on the Right
if(PINGRIGHT<15){
// 360deg Left Turn
for(int i=0; i<161; i++){
left();
}
}
// If there is no wall on the Right
else if(PINGRIGHT>=15){
// 90deg Right Turn
for(int i=0; i<81; i++){
right();
}
}
}

// If there is no wall on the Front


else if(PINGFRONT>=7){
// Moves one step forward
forward();
}
}
// If there is no wall on the Left
else if(PINGLEFT>=15){
// Moves Forward so that it will stay at the middle
for(int i=0; i<30; i++){
forward();
}
// 90deg Left Turn
for(int i=0; i<81; i++){
left();
}
// Moves Forward again so the Robot will enter a new square
for(int i=0; i<180; i++){
forward();
}
}
}

You might also like