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Working on end of phase 2

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This commit is contained in:
Ricardo
2026-02-05 18:05:07 +00:00
parent a2c397d6ca
commit bb6e2fdde3
1 changed files with 94 additions and 21 deletions
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115
Firmware/micro_motors/micro_motors.ino
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@@ -97,6 +97,7 @@ int rollingAverage(int buffer[]); // rollingAverage function call
void sensorsTest(); void sensorsTest();
void motorsTest(); void motorsTest();
void phaseThree(); void phaseThree();
void align(int dist);
void setup() { void setup() {
Serial.begin(115200); Serial.begin(115200);
@@ -177,7 +178,7 @@ if (WiFi.status() == WL_CONNECTED) {
} }
void loop() { void loop() {
// ph1 = true; ph1 = true;
// ph2 = true; // ph2 = true;
ph3 = true; ph3 = true;
@@ -198,13 +199,13 @@ void loop() {
} }
// motorsTest(); // motorsTest();
// sensorsTest(); sensorsTest();
} }
void phaseOne() { void phaseOne() {
// Wait for valid sensor readings // Wait for valid sensor readings
while (sens_FL < 0 || sens_FR < 0) { while (sens_FL < 20 || sens_FR < 20 || sens_FL > 8000 || sens_FR > 8000) {
receiveSensorData(); // read sensors receiveSensorData(); // read sensors
delay(10); delay(10);
} }
@@ -213,11 +214,11 @@ void phaseOne() {
int speed; int speed;
receiveSensorData(); receiveSensorData();
while ((distance = (sens_FL + sens_FR) / 2) > 240) { while ((distance = (sens_FL + sens_FR) / 2) > 225) {
// Slow down as we approach target // Slow down as we approach target
if (distance > 500) { if (distance > 500) {
speed = 180; speed = 120;
} else if (distance > 350) { } else if (distance > 450) {
speed = 80; speed = 80;
} else { } else {
speed = 40; // Slow down even more speed = 40; // Slow down even more
@@ -228,6 +229,9 @@ void phaseOne() {
} }
motorsStop(); motorsStop();
align(245);
logPrint("Stopped at: "); logPrintln((sens_FL + sens_FR) / 2); logPrint("Stopped at: "); logPrintln((sens_FL + sens_FR) / 2);
delay(1000); delay(1000);
Go90right(); Go90right();
@@ -248,33 +252,52 @@ void phaseOne() {
void phaseTwo() { void phaseTwo() {
// Wait for valid sensor readings - ENABLE IF YOU ARE TESTING ONLY THIS PHASE // Wait for valid sensor readings - ENABLE IF YOU ARE TESTING ONLY THIS PHASE
// while (sens_FL < 0 || sens_FR < 0) { while (sens_FL < 0 || sens_FR < 0) {
// receiveSensorData(); // read sensors receiveSensorData(); // read sensors
// delay(10); delay(10);
// } }
// align(150);
receiveSensorData(); receiveSensorData();
/*
// while (!p2_stop) { while ((sens_FL + sens_FR) / 2 > 7000) {
while ((sens_FL + sens_FR) / 2 > 8000) {
motorsGo(-230); motorsGo(-230);
delay(5); // Wait for new sensor data to arrive delay(5); // Wait for new sensor data to arrive
receiveSensorData(); // Get fresh reading each iteration receiveSensorData(); // Get fresh reading each iteration
} }
while ((sens_FL + sens_FR) / 2 < 800) { // Used to be 680 while ((sens_FL + sens_FR) / 2 < 300) { // Used to be 680
motorsGo(-250); motorsGo(-250);
delay(5); // Wait for new sensor data to arrive delay(5); // Wait for new sensor data to arrive
receiveSensorData(); // Get fresh reading each iteration receiveSensorData(); // Get fresh reading each iteration
} }
while ((sens_FL + sens_FR) / 2 > 320) { while ((sens_FL + sens_FR) / 2 > 500) {
motorsGo(-120); motorsGo(-120);
delay(5); // Wait for new sensor data to arrive delay(5); // Wait for new sensor data to arrive
receiveSensorData(); // Get fresh reading each iteration receiveSensorData(); // Get fresh reading each iteration
} }
// p2_stop = true; */
// receiveSensorData();
// } delay(1000);
motorsGo(-255);
delay(3000);
while ((sens_FL + sens_FR) / 2 > 300) {
motorsGo(-100);
delay(5); // Wait for new sensor data to arrive
receiveSensorData(); // Get fresh reading each iteration
}
while ((sens_FL + sens_FR) / 2 > 170) {
motorsGo(-80);
delay(5); // Wait for new sensor data to arrive
receiveSensorData(); // Get fresh reading each iteration
}
motorsStop(); motorsStop();
@@ -430,7 +453,42 @@ void motorBR(int speed) {
return sum / count; return sum / count;
} }
void receiveSensorData() { void receiveSensorData() {
static String data = "";
while (Serial2.available()) {
char c = Serial2.read();
if (c == '\n') {
// Process complete line
int values[8];
int idx = 0;
int start = 0;
for (int i = 0; i <= data.length() && idx < 8; i++) {
if (i == data.length() || data[i] == ',') {
values[idx++] = data.substring(start, i).toInt();
start = i + 1;
}
}
if (idx == 8) {
sens_FL = values[0];
sens_FR = values[1];
sens_BL = values[2];
sens_BR = values[3];
sens_LF = values[4];
sens_LB = values[5];
sens_RF = values[6];
sens_RB = values[7];
}
data = "";
} else if (c != '\r') {
data += c;
}
}
/*
String data; String data;
// Drain buffer - keep only the latest complete line // Drain buffer - keep only the latest complete line
@@ -461,6 +519,7 @@ void motorBR(int speed) {
sens_RF = values[6]; sens_RF = values[6];
sens_RB = values[7]; sens_RB = values[7];
} }
*/
} }
void sensorsTest() { void sensorsTest() {
@@ -586,7 +645,7 @@ void Go90right() {
motorFR(-150); motorFR(-150);
motorBL(150); motorBL(150);
motorBR(-150); motorBR(-150);
delay(1250); delay(1100);
motorsStop(); motorsStop();
} }
@@ -595,7 +654,7 @@ void Go90left() {
motorFR(150); motorFR(150);
motorBL(-150); motorBL(-150);
motorBR(150); motorBR(150);
delay(1250); delay(1100);
motorsStop(); motorsStop();
} }
@@ -612,3 +671,17 @@ void slideLeft() {
motorBL(-150); motorBL(-150);
motorBR(150); motorBR(150);
} }
void align(int dist) {
receiveSensorData();
while ((sens_FL + sens_FR) / 2 > dist) {
if (sens_FL > sens_FR) {
motorFL(50);
} else {
motorFR(50);
}
delay(10);
motorsStop();
receiveSensorData();
}
}