From ff81f7f10d27b5a4a023952db28c043f3c635873 Mon Sep 17 00:00:00 2001 From: Andrew Coleman Date: Fri, 2 Sep 2022 11:30:14 -0400 Subject: [PATCH] Initial platformio commit --- .gitignore | 5 ++ .vscode/extensions.json | 10 ++++ include/README | 39 ++++++++++++ lib/CarDriver/CarDriver.cpp | 115 ++++++++++++++++++++++++++++++++++++ lib/CarDriver/CarDriver.h | 27 +++++++++ lib/README | 46 +++++++++++++++ platformio.ini | 17 ++++++ src/main.cpp | 37 ++++++++++++ test/README | 11 ++++ 9 files changed, 307 insertions(+) create mode 100755 .gitignore create mode 100755 .vscode/extensions.json create mode 100755 include/README create mode 100755 lib/CarDriver/CarDriver.cpp create mode 100755 lib/CarDriver/CarDriver.h create mode 100755 lib/README create mode 100755 platformio.ini create mode 100755 src/main.cpp create mode 100755 test/README diff --git a/.gitignore b/.gitignore new file mode 100755 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100755 index 0000000..080e70d --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/include/README b/include/README new file mode 100755 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/CarDriver/CarDriver.cpp b/lib/CarDriver/CarDriver.cpp new file mode 100755 index 0000000..5726e34 --- /dev/null +++ b/lib/CarDriver/CarDriver.cpp @@ -0,0 +1,115 @@ +#include + +boolean goesForward = false; + +NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function +Servo servo_motor; + +void setupCar() { + pinMode(RightMotorForward, OUTPUT); + pinMode(LeftMotorForward, OUTPUT); + pinMode(LeftMotorBackward, OUTPUT); + pinMode(RightMotorBackward, OUTPUT); + + servo_motor.attach(ServoPin); //our servo pin + servo_motor.write(115); + delay(2000); + getPingDistance(); + delay(100); + getPingDistance(); + delay(100); + getPingDistance(); + delay(100); + getPingDistance(); + delay(100); +} + +int lookRight() { + servo_motor.write(50); + delay(500); + int distance = getPingDistance(); + delay(100); + servo_motor.write(115); + return distance; +} + +int lookLeft() { + servo_motor.write(170); + delay(500); + int distance = getPingDistance(); + delay(100); + servo_motor.write(115); + delay(100); + return distance; +} + +int getPingDistance() { + delay(70); + int cm = sonar.ping_cm(); + if(cm == 0) { + return maximum_distance; + } + return cm; +} + +void moveStop() { + digitalWrite(RightMotorForward, LOW); + digitalWrite(LeftMotorForward, LOW); + digitalWrite(RightMotorBackward, LOW); + digitalWrite(LeftMotorBackward, LOW); +} + +void moveForward() { + if(!goesForward) { + goesForward = true; + + digitalWrite(LeftMotorForward, HIGH); + digitalWrite(RightMotorForward, HIGH); + + digitalWrite(LeftMotorBackward, LOW); + digitalWrite(RightMotorBackward, LOW); + } +} + +void moveBackward() { + goesForward = false; + + digitalWrite(LeftMotorBackward, HIGH); + digitalWrite(RightMotorBackward, HIGH); + + digitalWrite(LeftMotorForward, LOW); + digitalWrite(RightMotorForward, LOW); + +} + +void turnRight() { + digitalWrite(LeftMotorForward, HIGH); + digitalWrite(RightMotorBackward, HIGH); + + digitalWrite(LeftMotorBackward, LOW); + digitalWrite(RightMotorForward, LOW); + + delay(500); + + digitalWrite(LeftMotorForward, HIGH); + digitalWrite(RightMotorForward, HIGH); + + digitalWrite(LeftMotorBackward, LOW); + digitalWrite(RightMotorBackward, LOW); +} + +void turnLeft() { + digitalWrite(LeftMotorBackward, HIGH); + digitalWrite(RightMotorForward, HIGH); + + digitalWrite(LeftMotorForward, LOW); + digitalWrite(RightMotorBackward, LOW); + + delay(500); + + digitalWrite(LeftMotorForward, HIGH); + digitalWrite(RightMotorForward, HIGH); + + digitalWrite(LeftMotorBackward, LOW); + digitalWrite(RightMotorBackward, LOW); +} \ No newline at end of file diff --git a/lib/CarDriver/CarDriver.h b/lib/CarDriver/CarDriver.h new file mode 100755 index 0000000..87f0347 --- /dev/null +++ b/lib/CarDriver/CarDriver.h @@ -0,0 +1,27 @@ +#include //standard library for the servo +#include //for the Ultrasonic sensor function library. + +//L298N motor control pins +const int LeftMotorForward = 5; +const int LeftMotorBackward = 4; +const int RightMotorForward = 6; +const int RightMotorBackward = 7; + +// servo pins +const int ServoPin = 3; + +//sensor pins +#define echo_pin A1 +#define trig_pin A2 + +#define maximum_distance 200 + +void setupCar(); +int lookRight(); +int lookLeft(); +int getPingDistance(); +void moveStop(); +void moveForward(); +void moveBackward(); +void turnRight(); +void turnLeft(); \ No newline at end of file diff --git a/lib/README b/lib/README new file mode 100755 index 0000000..6debab1 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100755 index 0000000..1b26647 --- /dev/null +++ b/platformio.ini @@ -0,0 +1,17 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:uno] +platform = atmelavr +board = uno +framework = arduino +lib_deps = + arduino-libraries/Servo@^1.1.8 + teckel12/NewPing@^1.9.4 diff --git a/src/main.cpp b/src/main.cpp new file mode 100755 index 0000000..1fcf64b --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,37 @@ +#include +#include + +void setup() { + setupCar(); +} + +void loop() { + int distance = 0; + int distanceRight = 0; + int distanceLeft = 0; + delay(50); + + distance = getPingDistance(); + if(distance <= 20) { + moveStop(); + delay(300); + moveBackward(); + delay(400); + moveStop(); + delay(300); + distanceRight = lookRight(); + delay(300); + distanceLeft = lookLeft(); + delay(300); + + if(distance >= distanceLeft) { + turnRight(); + moveStop(); + } else if(distance > distanceRight) { + turnLeft(); + moveStop(); + } + } else { + moveForward(); + } +} \ No newline at end of file diff --git a/test/README b/test/README new file mode 100755 index 0000000..9b1e87b --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html