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/*
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Progetto : BoBeBo (Insetto Robot) - HackLab Terni
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Il robot controlla la presenza di ostacoli, se ci sono cambia direzione, altrimenti procede in avanti.
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Luglio 2012
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Modificato: Ottobre 2012
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Modificato: Marzo 2013
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Inserito un arresto al momento del riconoscimento di un ostacolo.
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Rallentato il movimento nell'andatura in avanti.
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Modificato: Gennaio 2014
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Autore : Cristina Begliomini
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*/
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#include <Servo.h>
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Servo frontServo;
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Servo rearServo;
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/* Servo motors - global variables */
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int centerPos = 90;
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int frontRightUp = 72;
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int frontLeftUp = 108;
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int backRightForward = 75;
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int backLeftForward = 105;
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int walkSpeed = 150; // How long to wait between steps in milliseconds
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int centerTurnPos = 96;
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int frontTurnRightUp = 81;
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int frontTurnLeftUp = 99;
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int backTurnRightForward = 81;
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int backTurnLeftForward = 111;
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/* Misurazione della distanza - global variables */
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int pingPin = 4;
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long int duration;
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long distanceFront=0; //cm
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int startAvoidanceDistance=20; //distanza massima in cm per considerare un ostacolo
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int danger = 0; // no obstacle
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int frontRight = 0; // front right leg in low position
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int slowMotion = 50; // delay amount for moving forwards
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long microsecondsToCentimeters(long microseconds)
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{
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return microseconds / 29 / 2;
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}
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long distanceCm(){
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pinMode(pingPin, OUTPUT);
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digitalWrite(pingPin, LOW);
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delayMicroseconds(2);
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digitalWrite(pingPin, HIGH);
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delayMicroseconds(5);
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digitalWrite(pingPin, LOW);
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pinMode(pingPin, INPUT);
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duration = pulseIn(pingPin, HIGH);
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return microsecondsToCentimeters(duration);
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}
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void moveForward()
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{
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int frontPos = frontServo.read(); //checks frontServo position
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int rearPos = rearServo.read(); //checks rearServo position
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if (frontRight==0) { // moves front right leg up
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for (; frontPos >= frontRightUp; frontPos--) {
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frontServo.write(frontPos);
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delay(slowMotion);
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}
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distanceFront=distanceCm();
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if (distanceFront > 1){ // Filters out any stray 0.00 error readings
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if (distanceFront > startAvoidanceDistance) {
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for (; rearPos <= backLeftForward; rearPos++) {
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rearServo.write(rearPos);
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delay(slowMotion);
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}
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frontRight = 1;
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}
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}
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} else { // moves front left leg up
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for (; frontPos <= frontLeftUp; frontPos++) {
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frontServo.write(frontPos);
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delay(slowMotion);
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}
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distanceFront=distanceCm();
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if (distanceFront > 1){ // Filters out any stray 0.00 error readings
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if (distanceFront > startAvoidanceDistance) {
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for (; rearPos >= backRightForward; rearPos--) {
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rearServo.write(rearPos);
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delay(slowMotion);
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}
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frontRight = 0;
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}
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}
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}
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}
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void moveBackRight()
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{
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frontServo.write(frontRightUp);
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rearServo.write(backRightForward-6);
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delay(125);
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frontServo.write(centerPos);
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rearServo.write(centerPos-6);
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delay(65);
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frontServo.write(frontLeftUp+9);
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rearServo.write(backLeftForward-6);
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delay(125);
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frontServo.write(centerPos);
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rearServo.write(centerPos);
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delay(65);
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}
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void moveTurnLeft()
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{
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frontServo.write(frontTurnRightUp);
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rearServo.write(centerTurnPos);
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delay(65);
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rearServo.write(backTurnLeftForward);
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delay(125);
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frontServo.write(centerTurnPos);
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delay(65);
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frontServo.write(frontTurnLeftUp);
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rearServo.write(centerTurnPos);
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delay(65);
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rearServo.write(backTurnRightForward);
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delay(125);
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frontServo.write(centerTurnPos);
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delay(65);
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}
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void setup()
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{
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frontServo.attach(2);
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rearServo.attach(3);
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pinMode(pingPin, OUTPUT);
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}
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void loop()
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{
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distanceFront=distanceCm();
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if (distanceFront > 1){ // Filters out any stray 0.00 error readings
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if (distanceFront<startAvoidanceDistance) {
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if (danger==0) { // stops at first obstacle detection
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delay(1000);
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danger = 1;
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}
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for(int i=0; i<=8; i++) {
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moveBackRight();
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delay(walkSpeed);
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}
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for(int i=0; i<=10; i++) {
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distanceFront=distanceCm(); // inseramo un controllo della presenza di ostacoli anche in fase di cambio di direzione
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if (distanceFront > 1){ // Filters out any stray 0.00 error readings
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if (distanceFront<startAvoidanceDistance) {
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moveBackRight();
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delay(walkSpeed);
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} else {
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danger = 0;
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moveTurnLeft();
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}
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}
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}
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} else {
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moveForward();
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}
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}
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}
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