Add 'Sumo_2023/' from commit 'c6eab37f0174a69411231fa11e7738cf257acb79'

git-subtree-dir: Sumo_2023
git-subtree-mainline: 9c97e30
git-subtree-split: c6eab37

Author: DefinetlyNotAI

Sumo_2023/README.md

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+All files for my previous sumo robot at the HTU in jordan, 2023
+
+These include solidworks schematics and arduino nano code for a 2 wheel symtic motor robot, 
+
+Most parts from JSumo

Sumo_2023/Sumo robot 2023 summer competition/6mm bearing.SLDPRT

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+#include <Ramp.h>
+
+ramp LM_R;  // Left motor R_PWM
+ramp LM_L;  // Left motor L_PWM
+ramp RM_R;  // Right motor R_PWM
+ramp RM_L;  // Right motor L_PWM
+
+// ========== 5 second delay ==========
+int b_pin = 13;
+bool delayed;
+
+// ========== IR ==========
+const int IR_pins[3] = {2, 3, 4};
+bool IR[3];
+
+const bool _clear[3] = {false, false, false};
+const bool front[3] = {true, false, false};
+const bool right[3] = {false, true, false};
+const bool left[3] = {false, false, true};
+const bool frontRight[3] = {true, true, false};
+const bool frontLeft[3] = {true, false, true};
+
+// ========== ML2 ==========
+const int ml2_right_p = 7;
+int ml2_right;
+const int ml2_left_p = 8;
+int ml2_left;
+const int ml2_back_p = 9;
+int ml2_back;
+
+// ========== BTS ==========
+int EN = 12;
+int R_PWM = 11;
+int L_PWM = 10;
+
+int R_PWM2 = 5;
+int L_PWM2 = 6;
+
+unsigned long currentMillis;
+unsigned long prevMillis;
+int stepFlag;
+
+void setup() {
+  // Sensors
+  for (int i = 0; i < 3; i++) pinMode(IR_pins[i], INPUT);
+  pinMode(b_pin, INPUT_PULLUP);
+  pinMode(ml2_right_p, INPUT);
+  pinMode(ml2_left_p, INPUT);
+  pinMode(ml2_back_p, INPUT);
+
+  // BTS
+  pinMode(EN, OUTPUT);
+  digitalWrite(EN, LOW);
+
+  Serial.begin(9600);
+
+  Serial.println("End of setup");
+}
+
+void loop() {
+  currentMillis = millis();
+
+  // Sensor readings
+  for (int i = 0; i < 3; i++) IR[i] = digitalRead(IR_pins[i]);
+  ml2_right = digitalRead(ml2_right_p);
+  ml2_left = digitalRead(ml2_left_p);
+  ml2_back = digitalRead(ml2_back_p);
+
+  // 5 second delay
+  //while (digitalRead(b_pin)) Serial.println("Waiting for button");
+  if (!delayed && currentMillis - prevMillis >= 1000) {
+    Serial.println(currentMillis);
+    stepFlag = 1;
+    prevMillis = currentMillis;
+    delayed = true;
+  }
+  else if (delayed) Loop();
+} // End of main loop
+
+int mapSpeed(int _s) {
+  int s = map(_s, 0, 100, 0, 255);
+  return s;
+}
+
+void Loop() {
+  while (true) {
+    currentMillis = millis();
+    
+    if (stepFlag == 1) {
+      Serial.println("STEP 1");
+      LM_R.go(mapSpeed(100), 1000);
+
+      prevMillis = currentMillis;
+      stepFlag = 2;
+    }
+    if (stepFlag == 2 && currentMillis - prevMillis >=  3000) {
+      Serial.println("STEP 2");
+      LM_R.go(mapSpeed(0), 1000);
+
+      prevMillis = currentMillis;
+      stepFlag = 3;
+    }
+    Serial.print("SPEED: ");
+    Serial.print(LM_R.update());
+    Serial.println();
+    Serial.println(currentMillis);
+
+    if (IR != _clear) {
+      if (IR == front) {
+        Serial.println("FRONT");
+      }
+      else if (IR == right) {
+        Serial.println("RIGHT");
+      }
+      else if (IR == left) {
+        Serial.println("LEFT");
+      }
+      else if (IR == frontRight) {
+        Serial.println("FRONT RIGHT");
+      }
+      else if (IR == frontLeft) {
+        Serial.println("FRONT LEFT");
+      }
+    }
+    else {
+      Serial.println("CLEAR");
+    }
+    /*
+        if (ml2_right && ml2_left) {
+          Serial.println("ML2 RIGHT LEFT");
+        }
+        if (ml2_right) {
+          Serial.println("ML2 RIGHT");
+        }
+        if (ml2_left) {
+          Serial.println("ML2 Left");
+        }
+        if (ml2_back) {
+          Serial.println("ML2 Back");
+        }*/
+
+  }
+}
+
+void Forward(int s) {
+  analogWrite(R_PWM, s);
+  analogWrite(L_PWM, 0);
+  analogWrite(R_PWM2, s);
+  analogWrite(L_PWM2, 0);
+}
+
+void Backward(int s) {
+  analogWrite(R_PWM, 0);
+  analogWrite(L_PWM, s);
+  analogWrite(R_PWM2, 0);
+  analogWrite(L_PWM2, s);
+}
+
+void Right(int s) {
+  analogWrite(R_PWM, s);
+  analogWrite(L_PWM, 0);
+  analogWrite(R_PWM2, 0);
+  analogWrite(L_PWM2, s);
+}
+
+void Left(int s) {
+  analogWrite(R_PWM, 0);
+  analogWrite(L_PWM, s);
+  analogWrite(R_PWM2, s);
+  analogWrite(L_PWM2, 0);
+}