RobotRunawayRobot

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1/* Runaway Robot
2
3 Play tag with your robot! With an ultrasonic
4
5 distance sensor, it's capable of detecting and avoiding
6
7 obstacles, never bumping into walls again!
8
9 You'll need to attach an untrasonic range finder to M1.
10
11 Circuit:
12
13 * Arduino Robot
14
15 * US range finder like Maxbotix EZ10, with analog output
16
17 created 1 May 2013
18
19 by X. Yang
20
21 modified 12 May 2013
22
23 by D. Cuartielles
24
25 This example is in the public domain
26
27 */
28
29// include the robot library
30#include <ArduinoRobot.h>
31#include <Wire.h>
32
33int sensorPin = M1;  // pin is used by the sensor
34
35void setup() {
36
37  // initialize the Robot, SD card, and display
38
39  Serial.begin(9600);
40
41  Robot.begin();
42
43  Robot.beginTFT();
44
45  Robot.beginSD();
46
47  Robot.displayLogos();
48
49  // draw a face on the LCD screen
50
51  setFace(true);
52}
53
54void loop() {
55
56  // If the robot is blocked, turn until free
57
58  while (getDistance() < 40) { // If an obstacle is less than 20cm away
59
60    setFace(false); //shows an unhappy face
61
62    Robot.motorsStop(); // stop the motors
63
64    delay(1000); // wait for a moment
65
66    Robot.turn(90); // turn to the right and try again
67
68    setFace(true); // happy face
69
70  }
71
72  // if there are no objects in the way, keep moving
73
74  Robot.motorsWrite(255, 255);
75
76  delay(100);
77}
78
79// return the distance in cm
80float getDistance() {
81
82  // read the value from the sensor
83
84  int sensorValue = Robot.analogRead(sensorPin);
85
86  //Convert the sensor input to cm.
87
88  float distance_cm = sensorValue * 1.27;
89
90  return distance_cm;
91}
92
93// make a happy or sad face
94void setFace(bool onOff) {
95
96  if (onOff) {
97
98    // if true show a happy face
99
100    Robot.background(0, 0, 255);
101
102    Robot.setCursor(44, 60);
103
104    Robot.stroke(0, 255, 0);
105
106    Robot.setTextSize(4);
107
108    Robot.print(":)");
109
110  } else {
111
112    // if false show an upset face
113
114    Robot.background(255, 0, 0);
115
116    Robot.setCursor(44, 60);
117
118    Robot.stroke(0, 255, 0);
119
120    Robot.setTextSize(4);
121
122    Robot.print("X(");
123
124  }
125}