RobotCompass

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1/* Robot Compass
2
3 The robot has an on-board compass module, with
4
5 which it can tell the direction the robot is
6
7 facing. This sketch will make sure the robot
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9 goes towards a certain direction.
10
11 Beware, magnets will interfere with the compass
12
13 readings.
14
15 Circuit:
16
17 * Arduino Robot
18
19 created 1 May 2013
20
21 by X. Yang
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23 modified 12 May 2013
24
25 by D. Cuartielles
26
27 This example is in the public domain
28
29 */
30
31// include the robot library
32#include <ArduinoRobot.h>
33#include <Wire.h>
34
35int speedLeft;
36int speedRight;
37int compassValue;
38int direc = 180;  //Direction the robot is heading
39
40void setup() {
41
42  // initialize the modules
43
44  Robot.begin();
45
46  Robot.beginTFT();
47
48  Robot.beginSD();
49
50  Robot.displayLogos();
51}
52
53void loop() {
54
55  // read the compass orientation
56
57  compassValue = Robot.compassRead();
58
59  // how many degrees are we off
60
61  int diff = compassValue - direc;
62
63  // modify degrees
64
65  if (diff > 180) {
66
67    diff = -360 + diff;
68
69  } else if (diff < -180) {
70
71    diff = 360 + diff;
72
73  }
74
75  // Make the robot turn to its proper orientation
76
77  diff = map(diff, -180, 180, -255, 255);
78
79  if (diff > 0) {
80
81    // keep the right wheel spinning,
82
83    // change the speed of the left wheel
84
85    speedLeft = 255 - diff;
86
87    speedRight = 255;
88
89  } else {
90
91    // keep the right left spinning,
92
93    // change the speed of the left wheel
94
95    speedLeft = 255;
96
97    speedRight = 255 + diff;
98
99  }
100
101  // write out to the motors
102
103  Robot.motorsWrite(speedLeft, speedRight);
104
105  // draw the orientation on the screen
106
107  Robot.drawCompass(compassValue);
108}