Build Instructions

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• 1

  Step 1

  //. Motor driver shield- 2012 Copyright (c) Seeed Technology Inc.
  // 
  //  Original Author: Jimbo.we
  //  Contribution: LG
  //  
  //  This library is free software; you can redistribute it and/or
  //  modify it under the terms of the GNU Lesser General Public
  //  License as published by the Free Software Foundation; either
  //  version 2.1 of the License, or (at your option) any later version.
  //
  //  This library is distributed in the hope that it will be useful,
  //  but WITHOUT ANY WARRANTY; without even the implied warranty of
  //  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  //  Lesser General Public License for more details.
  //
  //  You should have received a copy of the GNU Lesser General Public
  //  License along with this library; if not, write to the Free Software
  //  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
  //
  //
  //  Basic motion based on A0 A4 sensor input by Aaron "Floz" Casper
  //  for ScrapTrack
  //
  // set up variables 
  // name pins
  // 
  int pinI1=8;//define I1 interface
  int pinI2=11;//define I2 interface 
  int speedpinA=9;//enable motor A
  int pinI3=12;//define I3 interface 
  int pinI4=13;//define I4 interface 
  int speedpinB=10;//enable motor B
  int speed_A =0;//define the speed of motor_A
  int speed_B =0;//define the speed of motor_B
  const int photoCell_A = A4; // light sensor_A pin
  const int photoCell_B = A0; // light sensor_B pin
  int sensor_value_A = 0;// zero all our math
  int sensor_value_B = 0;// variables and sensors
  int output_value_A = 0;
  int output_value_B = 0;
  
  void setup()
  {
     // tell the arduino which pins are input and
     // which ones are output
     
    pinMode(photoCell_A, INPUT);
    pinMode(photoCell_B, INPUT);
    pinMode(pinI1,OUTPUT);
    pinMode(pinI2,OUTPUT);
    pinMode(speedpinA,OUTPUT);
    pinMode(pinI3,OUTPUT);
    pinMode(pinI4,OUTPUT);
    pinMode(speedpinB,OUTPUT);
    Serial.begin(57600);
  }
   
  void forward()
  {
    
    //This is really the only movement function used to begin with
    //it enables the motor to a speed determined by the photocell
    //this configuration should chase bright light.
    //
    
       analogWrite(speedpinA,speed_A);//input a simulation value to set the speed
       analogWrite(speedpinB,speed_B);
       digitalWrite(pinI4,LOW);//turn DC Motor B move clockwise
       digitalWrite(pinI3,HIGH);
       digitalWrite(pinI2,LOW);//turn DC Motor A move anticlockwise
       digitalWrite(pinI1,HIGH);
  }
  void stop()
  {
       // shuts the motors down by setting both speed-pins
       // to LOW
       digitalWrite(speedpinA,LOW);// Unenble the pin, to stop the motor. this should be done to avid damaging the motor. 
       digitalWrite(speedpinB,LOW);
       delay(1000);
   
  }
  
  void loop()
  {
    // read sensor values to figure motor speeds
    sensor_value_A= analogRead(photoCell_A);
    sensor_value_B = analogRead(photoCell_B);
    
    // map sensor readings to 0-255 range
    output_value_A = map(sensor_value_A, 0, 30, 0, 255);
    output_value_B = map(sensor_value_B, 0, 30, 0, 255);
   
    //serial debugging output
    Serial.print(analogRead(photoCell_A));
    Serial.print(" ");
    Serial.print(output_value_A);
    Serial.print(" ");
    Serial.print(analogRead(photoCell_B));
    Serial.print(" ");
    Serial.print(output_value_B);
    Serial.println(" ");
  
    // don't pass values beyond what the motor controller
    // can handle for speed.  
    if (output_value_A >= 255){
      output_value_A = 255;
    }
      if (output_value_B >= 255){
      output_value_B = 255;
    }
    // don't overwork the controllers trying to make tiny movements
    // chances are they won't turn on the motor enough to move, and
    // just get hot.
    
    if (output_value_A <= 128){
      output_value_A = 0;
    }
      if (output_value_B <= 128){
      output_value_B = 0;
    }
    
    // set the speed pin values for each motor controller
    speed_A= (output_value_A);
    speed_B= (output_value_B);
    //Serial.println(speed_A); 
  
    // move forward with speed_A and speed_B
    forward();
    delay(100);
     // delay to help jitter/freakouts
      
  }

• 2

  Step 2

  How to build a scraptrack:

  Step1 find an RC toy you like, but want to make autonomous.

  Step2 buy an Arduino (I like the Uno dev board)

  Step3 buy a motor sheild, or build your own.

  Step4 wiring!

  Step5 programming

  Step6 sensors!

  Step7 more programming

  Step8 frantic cursing at a 7th grade math error that makes the robot run in circles

  Step9 even more programming

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