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    Mark christian Lacap
    This document defines constants and functions to control an RC car robot using Arduino. It includes functions for motor control (forward, stop, left, right), reading sensors, controlling LED lights, reading RFID tags, and two main command routines to handle different navigation behaviors. The overall purpose is to control an RC car robot that can navigate autonomously based on sensor input and RFID tag readings.

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    © All Rights Reserved
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    Untitled

    Uploaded by

    Mark christian Lacap
    9 views6 pages
    This document defines constants and functions to control an RC car robot using Arduino. It includes functions for motor control (forward, stop, left, right), reading sensors, controlling LED lights, reading RFID tags, and two main command routines to handle different navigation behaviors. The overall purpose is to control an RC car robot that can navigate autonomously based on sensor input and RFID tag readings.

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    This document defines constants and functions to control an RC car robot using Arduino. It includes functions for motor control (forward, stop, left, right), reading sensors, controlling LED lights, reading RFID tags, and two main command routines to handle different navigation behaviors. The overall purpose is to control an RC car robot that can navigate autonomously based on sensor input and RFID tag readings.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    9 views6 pages

    Untitled

    Uploaded by

    Mark christian Lacap
    This document defines constants and functions to control an RC car robot using Arduino. It includes functions for motor control (forward, stop, left, right), reading sensors, controlling LED lights, reading RFID tags, and two main command routines to handle different navigation behaviors. The overall purpose is to control an RC car robot that can navigate autonomously based on sensor input and RFID tag readings.

    Copyright:

    © All Rights Reserved
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    #include <MFRC522.

    h>
    #include <SPI.h>

    #define L1_MOTOR 30
    #define L2_MOTOR 31
    #define L_ENA 6

    #define R1_MOTOR 32
    #define R2_MOTOR 33
    #define R_ENA 7

    #define TRIG_PIN 34
    #define ECHO_PIN 35

    #define L_IR 36
    #define R_IR 37

    #define RED_LED 38
    #define GREEN_LED 39
    #define BLUE_LED 40

    #define RST_PIN 5
    #define SS_PIN 53
    MFRC522 mfrc522 (SS_PIN, RST_PIN);

    int distance;
    long duration;
    String content;
    String command;
    bool flag = true;

    void setup ()
    {
    Serial.begin (9600);
    SPI.begin ();
    mfrc522.PCD_Init ();

    Serial.println ("STARTING");
    delay (500);
    Serial.println ("PLEASE WAIT . . .");
    delay (2500);

    pinMode (L1_MOTOR, OUTPUT);


    pinMode (L2_MOTOR, OUTPUT);
    pinMode (L_ENA, OUTPUT);

    pinMode (R1_MOTOR, OUTPUT);


    pinMode (R2_MOTOR, OUTPUT);
    pinMode (R_ENA, OUTPUT);

    pinMode (L_IR, INPUT);


    pinMode (R_IR, INPUT);

    pinMode (RED_LED, OUTPUT);


    pinMode (GREEN_LED, OUTPUT);
    pinMode (BLUE_LED, OUTPUT);
    }

    //----------------------------------------
    //LEDs
    void RED ()
    {
    digitalWrite (RED_LED, HIGH);
    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, LOW);
    }

    void GREEN ()
    {
    digitalWrite (RED_LED, LOW);
    digitalWrite (GREEN_LED, HIGH);
    digitalWrite (BLUE_LED, LOW);
    }

    void BLUE ()
    {
    digitalWrite (RED_LED, LOW);
    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, HIGH);
    }

    void RGB ()
    {
    digitalWrite (RED_LED, HIGH);
    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, LOW);
    delay (500);

    digitalWrite (RED_LED, LOW);


    digitalWrite (GREEN_LED, HIGH);
    digitalWrite (BLUE_LED, LOW);
    delay (500);

    digitalWrite (RED_LED, LOW);


    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, HIGH);
    delay (500);
    }

    void OFF ()
    {
    digitalWrite (RED_LED, LOW);
    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, LOW);
    }
    //----------------------------------------
    //MOTORs
    void FORWARD ()
    {
    Serial.println ("FORWARD");
    GREEN ();

    digitalWrite (L1_MOTOR, HIGH);


    digitalWrite (L2_MOTOR, LOW);
    analogWrite (L_ENA, 60);

    digitalWrite (R1_MOTOR, HIGH);


    digitalWrite (R2_MOTOR, LOW);
    analogWrite (R_ENA, 60);
    }

    void STOP ()
    {
    Serial.println ("STOP");
    RED ();

    digitalWrite (L1_MOTOR, LOW);


    digitalWrite (L2_MOTOR, LOW);
    analogWrite (L_ENA, 0);

    digitalWrite (R1_MOTOR, LOW);


    digitalWrite (R2_MOTOR, LOW);
    analogWrite (R_ENA, 0);
    }

    void LEFT ()
    {
    Serial.println ("LEFT");
    BLUE ();

    digitalWrite (L1_MOTOR, LOW);


    digitalWrite (L2_MOTOR, HIGH);
    analogWrite (L_ENA, 60);

    digitalWrite (R1_MOTOR, HIGH);


    digitalWrite (R2_MOTOR, LOW);
    analogWrite (R_ENA, 60);
    }

    void RIGHT ()
    {
    Serial.println ("RIGHT");
    BLUE ();

    digitalWrite (L1_MOTOR, HIGH);


    digitalWrite (L2_MOTOR, LOW);
    analogWrite (L_ENA, 60);

    digitalWrite (R1_MOTOR, LOW);


    digitalWrite (R2_MOTOR, HIGH);
    analogWrite (R_ENA, 60);
    }

    //----------------------------------------
    //RETURN
    void RETURN ()
    {
    while (flag)
    {
    Serial.println ("DONE!");

    if (flag == true)
    {
    flag = false;
    }
    }
    }
    //----------------------------------------
    //COMMANDs
    void COMMAND_TWO ()
    {
    if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)
    {
    FORWARD ();
    }
    else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == LOW)
    {
    LEFT ();
    }
    else if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == HIGH)
    {
    RIGHT ();
    }
    else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == HIGH)
    {
    STOP ();
    }

    if (!mfrc522.PICC_IsNewCardPresent () || !mfrc522.PICC_ReadCardSerial ())


    {
    return ;
    }

    content = "";
    byte letter;

    for (byte i = 0 ; i < mfrc522.uid.size ; i++)


    {
    content.concat (String (mfrc522.uid.uidByte [i] < 0x10 ? " 0" : " "));
    content.concat (String (mfrc522.uid.uidByte [i], HEX));
    }
    content.toUpperCase ();

    if (content.substring (1) == "")


    {
    STOP ();
    delay (300);
    FORWARD ();
    delay (500);
    STOP ();
    delay (300);
    RIGHT ();
    delay (600);
    }

    if (content.substring (1) == "")


    {
    STOP ();
    delay (300);
    LEFT ();
    delay (1000);
    RGB ();
    delay (1500);
    STOP ();
    RETURN ();
    }
    }

    void COMMAND_ONE ()
    {
    if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)
    {
    FORWARD ();
    }
    else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == LOW)
    {
    LEFT ();
    }
    else if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == HIGH)
    {
    RIGHT ();
    }
    else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == HIGH)
    {
    STOP ();
    }

    if (!mfrc522.PICC_IsNewCardPresent () || !mfrc522.PICC_ReadCardSerial ())


    {
    return ;
    }

    content = "";
    byte letter;

    for (byte i = 0 ; i < mfrc522.uid.size ; i++)


    {
    content.concat (String (mfrc522.uid.uidByte [i] < 0x10 ? " 0" : " "));
    content.concat (String (mfrc522.uid.uidByte [i], HEX));
    }
    content.toUpperCase ();

    if (content.substring (1) == "")


    {
    STOP ();
    delay (300);
    LEFT ();
    delay (600);
    }

    if (content.substring (1) == "")


    {
    STOP ();
    delay (300);
    RIGHT ();
    delay (1000);
    RGB ();
    delay (1500);
    STOP ();

    COMMAND_TWO ();
    }
    }
    //----------------------------------------
    //MAIN
    void loop ()
    {
    flag = true;

    delay (10);
    while (Serial.available ())
    {
    command = "";
    command = Serial.readString ();
    }

    if (command == "command number one")


    {
    COMMAND_ONE ();
    }

    if (command == "stop")
    {
    STOP ();
    command = "";
    return;
    }
    }

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