codigo inicial

Donatello_laqueva/Donatello_laqueva.ino

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+//#include <Arduino.h>
+//vuelta afuera 54.66 s
+
+#define PIN_BTN 2
+#define PIN_MOTOR_LEFT 10
+#define PIN_MOTOR_RIGHT 9
+#define PIN_LED A5
+
+#define PIN_SENSOR_IZQUIERDOO 4
+#define PIN_SENSOR_IZQUIERDO 5
+#define PIN_SENSOR_CENTRO 6
+#define PIN_SENSOR_DERECHO 7
+#define PIN_SENSOR_DERECHOO 8
+#define PIN_SENSORS_SHIFT 1
+
+#define DER 0
+#define IZQ 1
+
+typedef enum {
+  WAITING_BUTTON,
+  STATE_CENTER,
+  STATE_LEFT,
+  STATE_RIGHT,
+  STATE_LEFTT,
+  STATE_RIGHTT,
+  STATE_ZERO
+} state_t;
+
+
+struct State {
+  bool button_pressed;
+  state_t program_state;
+  state_t previous_state;
+  long int dt;
+};
+State state;
+
+//Batera cargada en 8.30, 247 y 0
+
+
+byte speed = 180;
+byte speed2 = speed * 0;
+
+typedef enum {
+  ZERO,
+  DELTA_PLUS_PLUS,
+  DELTA_PLUS,
+  DELTA,
+  DELTA_MINUS,
+  DELTA_MINUS_MINUS
+} delta_t;
+
+signed int deltas[6][2] = {
+  { 0, 0 },                  // ZERO - avanza derecho
+  { -50, speed },  // DELTA_PLUS_PLUS - giro fuerte a la derecha
+  { 0, speed },             // DELTA_PLUS - giro suave a la derecha
+  { 0, speed },             // DELTA - giro mas suave a la derecha
+  { 0, speed },             // DELTA_MINUS - corrijo inercia a la derecha
+  { 0, speed }              // DELTA_MINUS_MINUS - corrijo inercia mas suave a la derecha
+};
+
+
+/*
+void forward(delta_t delta, bool dir) {
+  //analogWrite(PIN_MOTOR_RIGHT, constrain( speed - deltas[delta][!dir] ,0,255));
+  //analogWrite(PIN_MOTOR_LEFT, constrain( speed - deltas[delta][dir]-2 ,0,255));
+}*/
+
+
+typedef void(procesar_state_t)();
+
+//lectura de sensores
+void read_sensors() {
+  int sensores[] = {
+    digitalRead(PIN_SENSOR_IZQUIERDOO),
+    digitalRead(PIN_SENSOR_IZQUIERDO),
+    digitalRead(PIN_SENSOR_CENTRO),
+    digitalRead(PIN_SENSOR_DERECHO),
+    digitalRead(PIN_SENSOR_DERECHOO)
+  };
+
+
+  if (sensores[2]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_CENTER;
+  } else if (sensores[1]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_LEFT;
+  } else if (sensores[3]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_RIGHT;
+  } else if (sensores[4]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_RIGHTT;
+  } else if (sensores[0]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_LEFTT;
+  }
+}
+
+//no usado
+void waiting_button() {
+  if (!digitalRead(PIN_BTN)) {
+    state.program_state = state.previous_state = STATE_CENTER;
+  }
+}
+
+void state_center() {
+  analogWrite(PIN_MOTOR_RIGHT, speed);
+  analogWrite(PIN_MOTOR_LEFT, speed);
+}
+
+void state_right() {
+  analogWrite(PIN_MOTOR_RIGHT, speed2);
+  analogWrite(PIN_MOTOR_LEFT, speed);
+}
+
+void state_left() {
+  analogWrite(PIN_MOTOR_RIGHT, speed);
+  analogWrite(PIN_MOTOR_LEFT, speed2);
+}
+
+void state_zero() {
+}
+
+void state_rightt() {
+  while (!digitalRead(PIN_SENSOR_CENTRO)) {
+    analogWrite(PIN_MOTOR_RIGHT, 0);
+    analogWrite(PIN_MOTOR_LEFT, speed);
+  }
+}
+
+void state_leftt() {
+  while (!digitalRead(PIN_SENSOR_CENTRO)) {
+    analogWrite(PIN_MOTOR_RIGHT, speed);
+    analogWrite(PIN_MOTOR_LEFT, 0);
+  }
+}
+
+/*
+  WAITING_BUTTON,
+  STATE_CENTER,
+  STATE_LEFT,
+  STATE_RIGHT,
+  STATE_LEFTT,
+  STATE_RIGHTT,
+  STATE_ZERO
+*/
+procesar_state_t* dispatch_table[] = {
+  waiting_button,
+  state_center,
+  state_left,
+  state_right,
+  state_leftt,
+  state_rightt,
+  state_zero
+};
+
+
+void setup() {
+  //Serial.begin(9600);       //iniciar puerto serie
+  pinMode(PIN_BTN, INPUT);  //definir pin como entrada
+  pinMode(PIN_MOTOR_LEFT, OUTPUT);
+  pinMode(PIN_MOTOR_RIGHT, OUTPUT);
+  pinMode(PIN_SENSOR_IZQUIERDO, INPUT);
+  pinMode(PIN_SENSOR_CENTRO, INPUT);
+  pinMode(PIN_SENSOR_DERECHO, INPUT);
+  pinMode(PIN_SENSOR_DERECHOO, INPUT);
+  pinMode(PIN_SENSOR_IZQUIERDOO, INPUT);
+  pinMode(PIN_LED, OUTPUT);
+
+  while (!digitalRead(PIN_BTN))
+    ;
+  state.previous_state = state.program_state = STATE_CENTER;
+  digitalWrite(PIN_LED, HIGH);
+  delay(100);
+
+  /*for(int i=0; i<100; i++){
+    delay(1000);
+    analogWrite(PIN_MOTOR_RIGHT,255);
+    analogWrite(PIN_MOTOR_LEFT,253);
+    delay(2000);
+    analogWrite(PIN_MOTOR_RIGHT,0);
+    analogWrite(PIN_MOTOR_LEFT,0);
+    while (!digitalRead(PIN_BTN));
+
+
+    }
+    while(1);*/
+}
+
+
+void loop() {
+
+  read_sensors();
+  dispatch_table[state.program_state]();
+  //Serial.println(state.program_state);
+  //delay(10);
+}

Donatello_laqueva/excluded_Donatello_laqueva.ino

@@ -0,0 +1,195 @@
+#include <Arduino.h>
+
+#define PIN_BTN 2
+#define PIN_MOTOR_LEFT 10
+#define PIN_MOTOR_RIGHT 9
+#define PIN_LED A5
+
+#define PIN_SENSOR_IZQUIERDOO 4
+#define PIN_SENSOR_IZQUIERDO 5
+#define PIN_SENSOR_CENTRO 6
+#define PIN_SENSOR_DERECHO 7
+#define PIN_SENSOR_DERECHOO 8
+#define PIN_SENSORS_SHIFT 1
+
+#define DER 0
+#define IZQ 1
+
+typedef enum {
+  WAITING_BUTTON,
+  STATE_CENTER,
+  STATE_LEFT,
+  STATE_RIGHT,
+  STATE_LEFTT,
+  STATE_RIGHTT,
+  STATE_ZERO
+} state_t;
+
+
+struct State {
+  bool button_pressed;
+  state_t program_state;
+  state_t previous_state;
+  long int dt;
+};
+State state;
+
+byte speed = 255;
+byte speed2 = speed * 0.2;
+
+typedef enum {
+  ZERO,
+  DELTA_PLUS_PLUS,
+  DELTA_PLUS,
+  DELTA,
+  DELTA_MINUS,
+  DELTA_MINUS_MINUS
+} delta_t;
+
+signed int deltas[6][2] = {
+  { 0, 0 },                  // ZERO - avanza derecho
+  { -50, speed },  // DELTA_PLUS_PLUS - giro fuerte a la derecha
+  { 0, speed },             // DELTA_PLUS - giro suave a la derecha
+  { 0, speed },             // DELTA - giro mas suave a la derecha
+  { 0, speed },             // DELTA_MINUS - corrijo inercia a la derecha
+  { 0, speed }              // DELTA_MINUS_MINUS - corrijo inercia mas suave a la derecha
+};
+
+
+
+void forward(delta_t delta, bool dir) {
+  //analogWrite(PIN_MOTOR_RIGHT, constrain( speed - deltas[delta][!dir] ,0,255));
+  //analogWrite(PIN_MOTOR_LEFT, constrain( speed - deltas[delta][dir]-2 ,0,255));
+}
+
+
+typedef void(procesar_state_t)();
+
+//lectura de sensores
+void read_sensors() {
+  int sensores[] = {
+    digitalRead(PIN_SENSOR_IZQUIERDOO),
+    digitalRead(PIN_SENSOR_IZQUIERDO),
+    digitalRead(PIN_SENSOR_CENTRO),
+    digitalRead(PIN_SENSOR_DERECHO),
+    digitalRead(PIN_SENSOR_DERECHOO)
+  };
+
+
+  if (sensores[2]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_CENTER;
+  } else if (sensores[1]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_LEFT;
+  } else if (sensores[3]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_RIGHT;
+  } else if (sensores[4]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_RIGHTT;
+  } else if (sensores[0]) {
+    state.previous_state = state.program_state;
+    state.program_state = STATE_LEFTT;
+  }
+}
+
+//no usado
+void waiting_button() {
+  if (!digitalRead(PIN_BTN)) {
+    state.program_state = state.previous_state = STATE_CENTER;
+  }
+}
+
+void state_center() {
+  analogWrite(PIN_MOTOR_RIGHT, speed);
+  analogWrite(PIN_MOTOR_LEFT, speed);
+}
+
+void state_right() {
+  analogWrite(PIN_MOTOR_RIGHT, speed2);
+  analogWrite(PIN_MOTOR_LEFT, speed);
+}
+
+void state_left() {
+  analogWrite(PIN_MOTOR_RIGHT, speed);
+  analogWrite(PIN_MOTOR_LEFT, speed2);
+}
+
+void state_zero() {
+}
+
+void state_rightt() {
+  while (!digitalRead(PIN_SENSOR_CENTRO)) {
+    analogWrite(PIN_MOTOR_RIGHT, 0);
+    analogWrite(PIN_MOTOR_LEFT, speed);
+  }
+}
+
+void state_leftt() {
+  while (!digitalRead(PIN_SENSOR_CENTRO)) {
+    analogWrite(PIN_MOTOR_RIGHT, speed);
+    analogWrite(PIN_MOTOR_LEFT, 0);
+  }
+}
+
+/*
+  WAITING_BUTTON,
+  STATE_CENTER,
+  STATE_LEFT,
+  STATE_RIGHT,
+  STATE_LEFTT,
+  STATE_RIGHTT,
+  STATE_ZERO
+*/
+procesar_state_t* dispatch_table[] = {
+  waiting_button,
+  state_center,
+  state_left,
+  state_right,
+  state_leftt,
+  state_rightt,
+  state_zero
+};
+
+
+void setup() {
+  //Serial.begin(9600);       //iniciar puerto serie
+  pinMode(PIN_BTN, INPUT);  //definir pin como entrada
+  pinMode(PIN_MOTOR_LEFT, OUTPUT);
+  pinMode(PIN_MOTOR_RIGHT, OUTPUT);
+  pinMode(PIN_SENSOR_IZQUIERDO, INPUT);
+  pinMode(PIN_SENSOR_CENTRO, INPUT);
+  pinMode(PIN_SENSOR_DERECHO, INPUT);
+  pinMode(PIN_SENSOR_DERECHOO, INPUT);
+  pinMode(PIN_SENSOR_IZQUIERDOO, INPUT);
+  pinMode(PIN_LED, OUTPUT);
+
+  while (!digitalRead(PIN_BTN))
+    ;
+  state.previous_state = state.program_state = STATE_CENTER;
+  digitalWrite(PIN_LED, HIGH);
+  delay(100);
+
+  /*for(int i=0; i<100; i++){
+    delay(1000);
+    analogWrite(PIN_MOTOR_RIGHT,255);
+    analogWrite(PIN_MOTOR_LEFT,253);
+    delay(2000);
+    analogWrite(PIN_MOTOR_RIGHT,0);
+    analogWrite(PIN_MOTOR_LEFT,0);
+    while (!digitalRead(PIN_BTN));
+
+
+    }
+    while(1);*/
+}
+
+
+void loop() {
+
+  read_sensors();
+  dispatch_table[state.program_state]();
+  //Serial.println(state.program_state);
+  //delay(10);
+}

Modulo sensores 18 septuembr - copia/#auto_saved_files#

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+C:\Users\Usuario\repos\McQueen\Modulo sensores 18 septuembr - copia\_autosave-modulo sensores_18_09.kicad_sch