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Microsumo Code

The document defines an Arduino sketch for controlling a robot with two motors and LED lights. It initializes pins for sensors, motors and LEDs. The main loop reads sensor values, sets LED colors based on an "strategy" number, and can execute test or battle routines. The routines control motor speeds to move the robot forward, backward, left, right or stop based on sensor input.

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24 views8 pages

Microsumo Code

The document defines an Arduino sketch for controlling a robot with two motors and LED lights. It initializes pins for sensors, motors and LEDs. The main loop reads sensor values, sets LED colors based on an "strategy" number, and can execute test or battle routines. The routines control motor speeds to move the robot forward, backward, left, right or stop based on sensor input.

Uploaded by

utp0143586
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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//ARUMA 2023

#include <FastLED.h>
#define NUM_LEDS 2
#define DATA_PIN 10
CRGB leds[NUM_LEDS];
int i = 0;
byte sensores;
/////////////// SENSORES
#define S5 14 //A0 -- SENSOR DE LINEA
#define S4 15 //A1 15
#define S3 16 //A2 16
#define S2 A3 //A3 17--- FD
#define S1 A4 //A4 ---- FI
////////////// MOTORES
#define MD1 4
#define PWMD 3
#define MD2 2
#define MI1 5
#define PWMI 6
#define MI2 7
/////////////// BOTONES
#define SGY 8
#define SPD 9
////////////// ACTIVADOR
#define ACTIVADOR 11 //MOSI
#define ACTIVADOR2 12 //MISO
#define X 35
#define E 50
int estrategia = 0;
int FD = 0;
int FI = 0;
int linea = 0;
int atk = 0;
int centro = 0;
int espera = 0;
int espera2 = 0;
int espera3 = 0;
byte FD_1 = 0, FI_1 = 0, LINEA_1 = 0;
int GI = 0, RI = 0, BI = 0;
int GD = 0, RD = 0, BD = 0;
bool DER = true, IZQ = false;

//leds[0].setRGB( 0, 0, 0); //[1](R,G,B) --- led 0 es DER COLORES RGB


//leds[1].setRGB( 0, 0, 0); //[0](R,G,B) --- led 1 es IZQ COLORES RGB

void setup() {
/////////////////////// inicializamos variables
estrategia = 0;
/////////////////////// SENSORES,BOTONES Y ACTIVADOR COMO ENTRADA
pinMode(S3, INPUT);
pinMode(S4, INPUT);
pinMode(S5, INPUT);
pinMode(SGY, INPUT);
pinMode(SPD, INPUT);
pinMode(ACTIVADOR, INPUT);
///////////////////// PINES DE MOTOR COMO SALIDAS
pinMode(MD1, OUTPUT);
pinMode(MD2, OUTPUT);
pinMode(MI1, OUTPUT);
pinMode(MI2, OUTPUT);
pinMode(PWMD, OUTPUT);
pinMode(PWMI, OUTPUT);
//////////////////////// APGAMOS TODO INICIALMENTE
digitalWrite(MD1, LOW);
digitalWrite(MD2, LOW);
digitalWrite(MI1, LOW);
digitalWrite(MI2, LOW);
FastLED.addLeds<NEOPIXEL, DATA_PIN>(leds, NUM_LEDS); // configuracion de leds
RGB
intro(); // secuencia de inicio de LEDS
leds[0].setRGB(0, 0, 0); // APAGAMOS LOS LEDS
leds[1].setRGB(0, 0, 0);
//test();
delay(100);
}

void loop() {

FD = analogRead(S1);
FI = analogRead(S2);
linea = digitalRead(S3);

if (linea == 0) { LINEA_1 = 0B00000100; }


else { LINEA_1 = 0B00000000; }
if (FD > 350) { FD_1 = 0B00000001; }
else { FD_1 = 0B00000000; }
if (FI > 350) { FI_1 = 0B00000010; }
else { FI_1 = 0B00000000; }

sensores = LINEA_1 + FD_1 + FI_1;

switch (estrategia)
{
case 0: ///////////////////////////////////////////////////////////////////////// TEST

switch (sensores)
{
case B00000001: /// sensor DER
GI = 0; RI = 0; BI = 0;
GD = 30; RD = 0; BD = 0;
break;
case B00000010: /// sensor IZQ
GI = 30; RI = 0; BI = 0;
GD = 0; RD = 0; BD = 0;
break;

case B00000011:/// AMBOS FRONTALES


GI = 30; RI = 0; BI = 0;
GD = 30; RD = 0; BD = 0;
break;

case B00000111:///AMBOS FRONTALES Y DE LINEA


GI = 30; RI = 30; BI = 40;
GD = 30; RD = 30; BD = 40;
break;

case B00000100:///LINEA
GI = 0; RI = 0; BI = 40;
GD = 0; RD = 0; BD = 40;
break;

case B00000000:///ninguno
GI = 0; RI = 0; BI = 0;
GD = 0; RD = 0; BD = 0;
break;
}
leds[1].setRGB(RI, GI, BI); //IZQ
leds[0].setRGB(RD, GD, BD); //DER

break;
case 1: ///////////////////////////////////////////////////////////////////////// ESTRATEGIA 1
leds[1].setRGB(0, 0, 0); //IZQ
leds[0].setRGB(E, 0, 0); //DER
break;
case 2: ///////////////////////////////////////////////////////////////////////// ESTRATEGIA 2
leds[1].setRGB(E, 0, 0); //IZQ
leds[0].setRGB(0, 0, 0); //DER
break;
case 3: ///////////////////////////////////////////////////////////////////////// ESTRATEGIA 3
leds[1].setRGB(E, 0, 0); //IZQ
leds[0].setRGB(E, 0, 0); //DER
break;
case 4: ///////////////////////////////////////////////////////////////////////// ESTRATEGIA 4
leds[1].setRGB(0, E, 0); //IZQ
leds[0].setRGB(0, 0, 0); //DER
break;
case 5: ///////////////////////////////////////////////////////////////////////// ESTRATEGIA 5
leds[1].setRGB(0, 0, 0); //IZQ
leds[0].setRGB(0, E, 0); //DER
break;
case 6: ///////////////////////////////////////////////////////////////////////// ESTRATEGIA 6
leds[1].setRGB(0, E, 0); //IZQ
leds[0].setRGB(0, E, 0); //DER
break;
case 7: ///////////////////////////////////////////////////////////////////////// ESTRATEGIA 7
leds[1].setRGB(0, 0, E); //IZQ
leds[0].setRGB(0, 0, 0); //DER
break;
default:
leds[0].setRGB(0, 0, 0); // APAGAMOS LOS LEDS
leds[1].setRGB(0, 0, 0);
}

if (digitalRead(SGY) == HIGH) { // aumento de rutina


estrategia++;
delay(300);
}

if (estrategia > 7) { estrategia = 0; }

if (digitalRead(SPD) == HIGH) { // libre


retardo5seg();
rutina();
}

if ((digitalRead(ACTIVADOR) == HIGH)) { // ARRANQUE


rutina();
}

FastLED.show();
delayMicroseconds(100);

void rutina() {
switch (estrategia)
{
case 0: //sin rutina
DER = true; IZQ = false;
batalla();
break;
case 1: //adelante
DER = true; IZQ = false;
adelante(253, 255, 500);
batalla();
break;
case 2:// giro der
DER = true; IZQ = false;
derecha(253, 255, 100);
batalla();
break;
case 3:// giro izq
DER = false; IZQ = true;
izquierda(253, 255, 100);
batalla();
break;
case 4:
break;
case 5:
break;
case 6:
break;
case 7:
break;
}
}

void batalla() {
while(1) {
FD = analogRead(S1);
FI = analogRead(S2);
linea = digitalRead(S3);

if (linea == 0) { LINEA_1 = 0B00000100; }


else { LINEA_1 = 0B00000000; }
if (FD > 350) { FD_1 = 0B00000001; }
else { FD_1 = 0B00000000; }
if (FI > 350) { FI_1 = 0B00000010; }
else { FI_1 = 0B00000000; }

sensores = LINEA_1 + FD_1 + FI_1;

switch (sensores)
{
case B00000001: /// sensor derecho
DER = true; IZQ = false;
derecha(170, 150, 4);
paro(20);
break;
case B00000010: /// sensor izquierdo
DER = false; IZQ = true;
izquierda(150, 170, 4);
paro(20);
break;
case B00000011:/// ambos frontales
DER = true; IZQ = false;
if(espera2 == 0){
paro(1);
espera++;
if(espera>500){adelante(120, 122, 60);espera=0;espera3++;}
if(espera3>2){espera2=1;}
}
else{
adelante(atk, atk+2, 1);
centro++;
delay(1);
if(centro>2){atk++;centro=0;}
if(atk>252){atk=253;}
}
break;
case B00000100:/// linea
DER = true; IZQ = false;
atras(240, 240, 200);
derecha(240, 240, 180);
break;
case B00000000:///ninguno

if(espera2==0){
if(DER == true){
derecha(150, 150, 1);
}
if(IZQ == true){
izquierda(150, 150, 1);
}
}

else{
adelante(140, 144, 1);
}

break;
}
}
}

void test() {
while (1) {
adelante(255, 255, 20);
paro(1000);
atras(255, 255, 20);
paro(1000);
izquierda(255, 255, 20);
paro(1000);
derecha(255, 255, 20);
paro(1000);
}

void adelante(byte PWM2, byte PWM1, int T) {


digitalWrite(MD2, HIGH);
digitalWrite(MD1, LOW);
analogWrite(PWMD, PWM1);
digitalWrite(MI1, HIGH);
digitalWrite(MI2, LOW);
analogWrite(PWMI, PWM2);
delay(T);
}

void atras(byte PWM2, byte PWM1, int T) {


digitalWrite(MD2, LOW);
digitalWrite(MD1, HIGH);
analogWrite(PWMD, PWM1);
digitalWrite(MI1, LOW);
digitalWrite(MI2, HIGH);
analogWrite(PWMI, PWM2);
delay(T);
}

void izquierda(byte PWM2, byte PWM1, int T) {


digitalWrite(MD2, HIGH);
digitalWrite(MD1, LOW);
analogWrite(PWMD, PWM1);
digitalWrite(MI1, LOW);
digitalWrite(MI2, HIGH);
analogWrite(PWMI, PWM2);
delay(T);
}

void derecha(byte PWM2, byte PWM1, int T) {


digitalWrite(MD2, LOW);
digitalWrite(MD1, HIGH);
analogWrite(PWMD, PWM1);
digitalWrite(MI1, HIGH);
digitalWrite(MI2, LOW);
analogWrite(PWMI, PWM2);
delay(T);
}

void paro(int T) {
digitalWrite(MD1, LOW);
digitalWrite(MD2, LOW);
analogWrite(PWMD, 0);
digitalWrite(MI1, LOW);
digitalWrite(MI2, LOW);
analogWrite(PWMI, 0);
delay(T);
}

void intro() {
while (i < 256) {
leds[0] = CHSV(i, 255, 80);
leds[1] = CHSV(i, 255, 80);
FastLED.show();
delay(1);
i++;
}
i = 0;
leds[0] = CRGB::Black;
leds[1] = CRGB::Black;
FastLED.show();
delay(20);
}

void retardo5seg() {
while (i < 246) {
leds[0] = CHSV(i, 255, 80);
leds[1] = CHSV(i, 255, 80);
FastLED.show();
delay(20);
i++;
}
i = 0;
leds[0] = CRGB::Black;
leds[1] = CRGB::Black;
FastLED.show();
delay(20);
}

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