DFRduino Class Reference

Public Member Functions
	DFRduino ()
void	setDirection (char direction)
void	setMotors (int left, int right)
void	setHorizontalHeadPosition (int angle)
void	setVerticalHeadPosition (int angle)
int	readDistanceInCentimeters ()

Constructor & Destructor Documentation

DFRduino::DFRduino

(

void

)

Set up the sensors and motors.

                       {
        initMotors();
        initSensors();
}

Member Function Documentation

int DFRduino::readDistanceInCentimeters

(

)

Reads the input from the IR sensor and calculates the distance to the object the IR light bounces off

Returns

Distance in cm (int).

Max distance detectable is 150cm

Min distance detectable is 20cm

                                        {
       int distance = 1;
       for (int i = 0; i < 10; i++) {
               distance += 4800/(analogRead(DISTANCE_SENSOR_INPUT_PIN) - 20);
               delayMicroseconds(2);
       }
       distance /= 10;

       if (distance > 150 || distance < 0)
               return 150;
       return distance;
}

void DFRduino::setDirection

(

char

direction

)

Sets the direction of the robot at 100% speed:

Parameters

direction

takes ones of the following: 'f': Forward, 'b': Backward, 'r': Right, 'l': Left

                                          {
        switch(direction) {
                case ('f'):
                        setMotors(100, 100);
                        break;
                case ('b'):
                        setMotors(-100, -100);
                        break;
                case ('r'):
                        setMotors(100, -100);
                        break;
                case ('l'):
                        setMotors(-100, 100);
                        break;
        }
}

void DFRduino::setHorizontalHeadPosition

(

int

angle

)

Sets the horizontal position of the head.

Parameters

angle

(0,180) degrees

Positions: (from the robot's perspective) 90: Central 0: Left 180: Right

                                                  {
        // Refactoring the attach out doesn't work
        horizontalServo.attach(HORIZONTAL_SERVO_PIN);
        horizontalServo.write(angle);
}

void DFRduino::setMotors	(	int	left,
		int	right
	)

Set the motors as a percentage of their max speed. Anything lower than 30 doesn't do anything.

Parameters

left	Percentage that the left motor is on (-100,100)
right	Percentage that the right motor is on (-100,100)

                                            {
        right = scaleSpeedToRangeOfInt(right);
        left  = scaleSpeedToRangeOfInt(left);

        if (left < 0) {
                digitalWrite(LEFT_MOTOR_DIRECTION_CONTROL, HIGH);
                analogWrite(LEFT_MOTOR_SPEED_CONTROL, -left);
        } else {
                digitalWrite(LEFT_MOTOR_DIRECTION_CONTROL, LOW);
                analogWrite(LEFT_MOTOR_SPEED_CONTROL, left);
        }

        if (right < 0) {
                digitalWrite(RIGHT_MOTOR_DIRECTION_CONTROL, HIGH);
                analogWrite(RIGHT_MOTOR_SPEED_CONTROL, -right);
        } else {
                digitalWrite(RIGHT_MOTOR_DIRECTION_CONTROL, LOW);
                analogWrite(RIGHT_MOTOR_SPEED_CONTROL, right);
        }
}

void DFRduino::setVerticalHeadPosition

(

int

angle

)

Sets the vertical position of the head.

Parameters

angle

(0,180) degrees

Positions: 160: As downards as it can go 130: Central 0: Pointing upwards and backwards

                                                {
        if (angle >= 165) {
                error("Too high an angle");
                return;
        }
        // Refactoring the attach out doesn't work
        verticalServo.attach(VERTICAL_SERVO_PIN);
        verticalServo.write(angle);
}

---

The documentation for this class was generated from the following files:

• DFRduino.h
• DFRduino.cpp