Difference between revisions of "Microduino-Shield Robot"

//=========M.A=============//
int mic_left_A = 7;
int mic_right_A = 5;
int mic_head_A = 8;
int mic_back_A = 6;
//=========M.B=============//
/*
int mic_left_B = 22;
 int mic_right_B =18;
 int mic_head_B = 23;
 int mic_back_B = 19;
 */
void setup() {
  pinMode(mic_left_A,OUTPUT);
  pinMode(mic_right_A,OUTPUT);
  pinMode(mic_head_A,OUTPUT);
  pinMode(mic_back_A,OUTPUT);
}

void loop() {
  head();
  delay(1500);
  back();
  delay(1500);
  left();
  delay(1500);
  right();
  delay(1500);
}

void head()
{
  digitalWrite(mic_left_A,LOW);
  digitalWrite(mic_right_A,HIGH);
  digitalWrite(mic_head_A,HIGH);
  digitalWrite(mic_back_A,LOW);
}

void left()
{
  digitalWrite(mic_left_A,HIGH);
  digitalWrite(mic_right_A,LOW);
  digitalWrite(mic_head_A,HIGH);
  digitalWrite(mic_back_A,LOW  );
}

void right()
{
  digitalWrite(mic_left_A,LOW);
  digitalWrite(mic_right_A,HIGH);
  digitalWrite(mic_head_A,LOW);
  digitalWrite(mic_back_A,HIGH);
}

void back()
{
  digitalWrite(mic_left_A,HIGH);
  digitalWrite(mic_right_A,LOW);
  digitalWrite(mic_head_A,LOW);
  digitalWrite(mic_back_A,HIGH);
}

void stoop()
{
  digitalWrite(mic_left_A,LOW);
  digitalWrite(mic_right_A,LOW);
  digitalWrite(mic_head_A,LOW);
  digitalWrite(mic_back_A,LOW);
}

#include <AccelStepper.h>

const int ENPin_A =8  ;      // the number of the LED pin
const int ENPin_B =23  ;      // the number of the LED pin

int motorSpeed = 9600; //maximum steps per second (about 3rps / at 16 microsteps)
int motorAccel = 80000; //steps/second/second to accelerate

int motorDirPin_A = 5; //digital pin 5
int motorStepPin_A = 7; //digital pin 7
int motorDirPin_B = 18; //digital pin 5
int motorStepPin_B = 22; //digital pin 7

//set up the accelStepper intance
//the "1" tells it we are using a driver
AccelStepper stepper_A(1, motorStepPin_A, motorDirPin_A); 
AccelStepper stepper_B(1, motorStepPin_B, motorDirPin_B); 

void setup(){
  pinMode(ENPin_A, OUTPUT);  
  pinMode(ENPin_B, OUTPUT);
  stepper_A.setMaxSpeed(motorSpeed);
  stepper_A.setSpeed(motorSpeed);
  stepper_A.setAcceleration(motorAccel);

  stepper_A.moveTo(3200); //move 32000 steps (should be 10 rev)

  stepper_B.setMaxSpeed(motorSpeed);
  stepper_B.setSpeed(motorSpeed);
  stepper_B.setAcceleration(motorAccel);

  stepper_B.moveTo(3200); //move 32000 steps (should be 10 rev)

}

void loop(){
  digitalWrite(ENPin_A, LOW);
  digitalWrite(ENPin_B, LOW);
  //if stepper is at desired location
  if (stepper_A.distanceToGo() == 0){
    //go the other way the same amount of steps
    //so if current position is 400 steps out, go position -400
    stepper_A.moveTo(-stepper_A.currentPosition()); 
  }
  //these must be called as often as possible to ensure smooth operation
  //any delay will cause jerky motion
  stepper_A.run();

  if (stepper_B.distanceToGo() == 0){
    //go the other way the same amount of steps
    //so if current position is 400 steps out, go position -400
    stepper_B.moveTo(-stepper_B.currentPosition()); 
  }
  //these must be called as often as possible to ensure smooth operation
  //any delay will cause jerky motion
  stepper_B.run();
}