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Complete course done.

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This commit is contained in:
Ricardo
2026-02-06 22:27:26 +00:00
parent bb6e2fdde3
commit fbb24d9e11
1 changed files with 58 additions and 99 deletions
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157
Firmware/micro_motors/micro_motors.ino
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@@ -19,14 +19,14 @@ const char* password = "hi123456";
#define FL_PWM 2
// Motor BR (Back Right)
#define BR_IN1 33
#define BR_IN2 32
#define BR_PWM 23
#define BR_IN1 26 // Original: 33
#define BR_IN2 25 // Original: 32
#define BR_PWM 22 // Original: 23
// Motor BL (Back Left)
#define BL_IN1 26
#define BL_IN2 25
#define BL_PWM 22
#define BL_IN1 33 // Original: 26
#define BL_IN2 32 // Original: 25
#define BL_PWM 23 // Original: 22
// PWM settings
@@ -44,6 +44,7 @@ const char* password = "hi123456";
int sens_LB = -1;
int sens_RF = -1;
int sens_RB = -1;
int sens_save = 10;
// Trim values to calibrate wheel speeds
int trimFL = 0;
@@ -90,8 +91,8 @@ void Go45right();
void Go45left();
void Go90right();
void Go90left();
void slideRight();
void slideLeft();
void slideRight(int speed);
void slideLeft(int speed);
void receiveSensorData(); // Receive the sensors data from micro sensors
int rollingAverage(int buffer[]); // rollingAverage function call
void sensorsTest();
@@ -178,9 +179,9 @@ if (WiFi.status() == WL_CONNECTED) {
}
void loop() {
ph1 = true;
// ph1 = true;
// ph2 = true;
ph3 = true;
// ph3 = true;
if (!ph1) {
@@ -199,7 +200,7 @@ void loop() {
}
// motorsTest();
sensorsTest();
// sensorsTest();
}
@@ -209,6 +210,11 @@ void phaseOne() {
receiveSensorData(); // read sensors
delay(10);
}
delay(1000);
while (sens_FL < 20 || sens_FR < 20 || sens_FL > 8000 || sens_FR > 8000) {
receiveSensorData(); // read sensors
delay(10);
}
int distance;
int speed;
@@ -230,8 +236,6 @@ void phaseOne() {
motorsStop();
align(245);
logPrint("Stopped at: "); logPrintln((sens_FL + sens_FR) / 2);
delay(1000);
Go90right();
@@ -244,8 +248,8 @@ void phaseOne() {
delay(1200); // Go out of the pit 1800 miliseconds
motorsStop();
delay(500);
slideLeft();
delay(1450);
slideLeft(150);
delay(1350); // Sliding time before going up the ramp
motorsStop();
delay(2000);
}
@@ -257,56 +261,44 @@ void phaseTwo() {
delay(10);
}
// align(150);
receiveSensorData();
/*
while ((sens_FL + sens_FR) / 2 > 7000) {
motorsGo(-230);
delay(5); // Wait for new sensor data to arrive
receiveSensorData(); // Get fresh reading each iteration
}
while ((sens_FL + sens_FR) / 2 < 300) { // Used to be 680
motorsGo(-250);
delay(5); // Wait for new sensor data to arrive
receiveSensorData(); // Get fresh reading each iteration
}
while ((sens_FL + sens_FR) / 2 > 500) {
motorsGo(-120);
delay(5); // Wait for new sensor data to arrive
receiveSensorData(); // Get fresh reading each iteration
}
*/
delay(1000);
motorsGo(-255);
delay(3000);
while ((sens_FL + sens_FR) / 2 > 300) {
delay(3000);
while ((sens_FL + sens_FR) / 2 > 320) {
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();
delay(2000);
}
void phaseThree() {
slideRight(150);
delay(800); // Slide right for 800 miliseconds
motorsStop();
delay(200); // Very small delay between turning and going, optional
motorsGo(-100);
delay(1450); // Go back towards the pin
motorsStop();
delay(200); // Very small delay between turning and going, optional
Go45right();
motorsGo(-70);
delay(2400);
motorsStop();
delay(200); // Very small delay between turning and going, optional
slideLeft(150);
delay(2500);
motorsStop();
delay(200); // Very small delay between turning and going, optional
Go45left();
delay(200);
motorsGo(-200);
delay(1900);
motorsStop();
}
void otaTask(void *parameter) {
@@ -487,39 +479,6 @@ void receiveSensorData() {
data += c;
}
}
/*
String data;
// Drain buffer - keep only the latest complete line
while (Serial2.available()) {
data = Serial2.readStringUntil('\n');
}
if (data.length() == 0) return;
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];
}
*/
}
void sensorsTest() {
@@ -627,7 +586,7 @@ void Go45right() {
motorFR(-150);
motorBL(150);
motorBR(-150);
delay(875);
delay(490); // Change time here for angle adjustment
motorsStop();
}
@@ -636,7 +595,7 @@ void Go45left() {
motorFR(150);
motorBL(-150);
motorBR(150);
delay(875);
delay(490); // Change time here for angle adjustment
motorsStop();
}
@@ -645,7 +604,7 @@ void Go90right() {
motorFR(-150);
motorBL(150);
motorBR(-150);
delay(1100);
delay(1100); // Change time here for angle adjustment
motorsStop();
}
@@ -654,22 +613,22 @@ void Go90left() {
motorFR(150);
motorBL(-150);
motorBR(150);
delay(1100);
delay(1100); // Change time here for angle adjustment
motorsStop();
}
void slideRight() {
motorFL(-150);
motorFR(150);
motorBL(150);
motorBR(-150);
void slideRight(int speed) {
motorFL(-speed);
motorFR(speed);
motorBL(speed);
motorBR(-speed);
}
void slideLeft() {
motorFL(150);
motorFR(-150);
motorBL(-150);
motorBR(150);
void slideLeft(int speed) {
motorFL(speed);
motorFR(-speed);
motorBL(-speed);
motorBR(speed);
}
void align(int dist) {