Arduino yellow drummer robot?
I was looking at building a yellow drummer robot that I saw in Make 25. I don't have a Picaxe, the problem is that I have seen pictuures and videos of people that have used arduino but no detailed instructions. Can anyone give me a link to instructions or give me tips. The best help I have had so far is the code. But how do I connect it up?
(I have a arduino deumonlatave, but it should still work).
// Yellow Drum Machine Program for Arduino Uno
// setup pins and variables for SRF05 sonar device
int echoPin = 12; // SRF05 echo pin (digital 12)
int initPin = 13; // SRF05 trigger pin (digital 13)
unsigned long pulseTime = 0; // stores the pulse in Micro Seconds
unsigned long distance = 0; // variable for storing the distance (cm)
// setup pins for drivetrain motors
int DCMotor1Drive = 10; // DCMotor1 Drive Pin (PWM 3)
int DCMotor1Reverse = 3; // DCMotor1 Reverse Pin (PWM 10)
int DCMotor2Drive = 9; // DCMotor2 Drive Pin (PWM 6)
int DCMotor2Reverse = 6; // DCMotor2 Reverse Pin (PWM 9)
// setup pins for sonar pivot pager
int SensorPagerRight = 11; // SensorPager rotate right Pin (digital #)
int SensorPagerLeft = 5; // SensorPager rotate left Pin (digital #)
// setup pins for drumstick pagers
int Pager1 = 8; // Pager1 rotate forward Pin (digital #)
int Pager2 = 2; // Pager1 rotate reverse Pin (digital #)
int Pager3 = 1;
int speed = 0;
int averageDistance = 0; // stores the average distance value
int mode = 0;
// Function for sonar reader
int readsonar() {
// variables to take x number of readings and then average them
// to remove the jitter/noise from the SRF05 sonar readings
const int numOfReadings = 10; // number of readings to take/ items in the array
int total = 0; // stores the cumlative total
// create array loop to iterate over every item in the array
for (int i = 0; i < numOfReadings; i++) {
// Trigger sonar to take reading
digitalWrite(initPin, HIGH); // send 10 microsecond pulse
delayMicroseconds(10); // wait 10 microseconds before turning off
digitalWrite(initPin, LOW); // stop sending the pulse
// Read sonar distance
pulseTime = pulseIn(echoPin, HIGH); // Look for a return pulse, it should be high as the pulse goes low-high-low
distance = pulseTime/58; // Distance = pulse time / 58 to convert to cm.
total= total + distance; // add the reading to the total
}
return total / numOfReadings;
}
// Drivetrain movement command functions
/* Drivetrain Forward */
int goforward(int speed) {
analogWrite(DCMotor1Reverse, 0);
analogWrite(DCMotor1Drive, speed);
analogWrite(DCMotor2Reverse, 0);
analogWrite(DCMotor2Drive, speed);
}
/* Drivetrain Reverse */
int goreverse(int speed) {
analogWrite(DCMotor1Reverse, speed);
analogWrite(DCMotor1Drive, 0);
analogWrite(DCMotor2Reverse, speed);
analogWrite(DCMotor2Drive, 0);
}
/* Drivetrain Turn Right */
int goright(int speed) {
analogWrite(DCMotor1Reverse, 0);
analogWrite(DCMotor1Drive, speed);
analogWrite(DCMotor2Reverse, 0);
analogWrite(DCMotor2Drive, 0);
}
/* Drivetrain Turn Left full speed*/
int goleft(int speed) {
analogWrite(DCMotor1Reverse, 0);
analogWrite(DCMotor1Drive, 0);
analogWrite(DCMotor2Reverse, 0);
analogWrite(DCMotor2Drive, speed);
}
/*Drivetrain turn around*/
int turnaround(int speed) {
analogWrite(DCMotor1Reverse, 0);
analogWrite(DCMotor1Drive, 255);
analogWrite(DCMotor2Reverse, 255);
analogWrite(DCMotor2Drive, 0);
}
/* Pager Pulse functions */
int rightstick() {
digitalWrite(Pager1, 0);
delay(200);
digitalWrite(Pager1, 1);
}
int leftstick() {
digitalWrite(Pager2, 1);
delay(200);
digitalWrite(Pager2, 0);
}
int tailstick() {
digitalWrite(Pager3, 1);
delay(200);
digitalWrite(Pager3, 0);
}
//Operational Modes
//Target Seeking Mode
int findtarget() {
int Center = readsonar();
if (Center > 50)
goforward(255); //Go forward!
else
mode = 1; //
}
//Fine-Tune Targeting Mode
int lockontarget() {
// Reading and moving the sonar
int Center = readsonar();
digitalWrite (SensorPagerLeft, 1);
digitalWrite (SensorPagerRight, 0);
delay (500);
int Left = readsonar();
digitalWrite (SensorPagerLeft, 0);
digitalWrite (SensorPagerRight, 1);
delay (500);
int Right = readsonar();
digitalWrite (SensorPagerLeft, 0);
digitalWrite (SensorPagerRight, 0);
delay (500);
//Speed and Direction Control
if ((Center < Right) && (Center < Left)) {
if (Center > 50)
goforward(255); //Go forward!
else if (Center > 7)
goforward(128); //
else
mode = 2;
}
else if ((Right < Center) && (Right < Left)) {
if (Right > 50)
goright(255); //Go forward!
else if (Right > 7)
goright(128); //
else
mode = 2;
}
else if ((Left < Center) && (Left < Right)) {
if (Left > 50)
goleft(255); //Go forward!
else if (Left > 7)
goleft(128); //
else
mode = 2;
}
}
//LET THE BEAT DROP!
int makesomenoise() {
tailstick();
rightstick();
leftstick();
delay (500);
tailstick();
rightstick();
leftstick();
delay (500);
tailstick();
rightstick();
leftstick();
delay (500);
tailstick();
tailstick();
tailstick();
tailstick();
rightstick();
leftstick();
tailstick();
rightstick();
leftstick();
delay (500);
tailstick();
rightstick();
leftstick();
delay (500);
mode = 3;
}
//Go Somewhere Else//
int runaway()
{
goreverse(255);
}
// setup
void setup() {
pinMode(DCMotor1Drive, OUTPUT); // sets DCMotor1Drive as output
pinMode(DCMotor1Reverse, OUTPUT); // sets DCMotor1Reverse as output
pinMode(initPin, OUTPUT); // set init pin 13 as output
pinMode(echoPin, INPUT); // set echo pin 12 as input
pinMode(Pager1, OUTPUT);
pinMode(Pager2, OUTPUT);
pinMode(Pager3, OUTPUT);
digitalWrite(Pager1, 1);
digitalWrite(Pager2, 0);
digitalWrite(Pager3, 0);
// initialize the serial port, lets you view the
// distances being pinged if connected to computer
// Serial.begin(9600);
}
void loop()
{
if (mode == 0)
findtarget();
else if (mode == 1)
lockontarget();
else if (mode == 2)
{
makesomenoise();
turnaround(255);
mode = 0;
}
// Serial.println(mode, DEC); // print out the average distance to the debugg
}
