Object-Following-Car-Image-Prcessing/arduino_code.ino at master · MrHassanMurtaza/Object-Following-Car-Image-Prcessing · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
#include <AFMotor.h>

AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);
AF_DCMotor motor4(4);

int state=0;
int speed = 255;


// the setup function runs once when you press reset or power the board
void setup() {
  // initialize digital pin LED_BUILTIN as an output.
       motor1.setSpeed(speed);
       motor2.setSpeed(speed);
       motor3.setSpeed(speed);
       motor4.setSpeed(speed);


  pinMode(LED_BUILTIN, OUTPUT);
  Serial.begin(9600);

}

// the loop function runs over and over again forever
void loop() {
//
  if(Serial.available())
    {

      state = Serial.read() -'0';
      if(state != -1 && state > 0){
        light(state);
      }


//      Serial.print("\n");

                            // wait for a second


}
}

void light(int n){
  if (n == 1) // forward
    {

    motor1.run(FORWARD);
    motor2.run(FORWARD);
    motor3.run(FORWARD);
    motor4.run(FORWARD);

    delay(1000);

    release();
    }
    else if (n == 2) // left
    {
    release();
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    motor3.run(FORWARD);
    //motor4.run(FORWARD);

    delay(100);
    release();
    }
    else if (n == 3) // right
    {
    release();
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    //motor3.run(FORWARD);
    motor4.run(FORWARD);

    delay(100);
    release();
    }
    else if (n == 4) // reverse
    {
    //release();
    peechyAA();

    delay(1000);
    release();
    }
    else{

    release();
    }
  for(int i = 0 ; i < n; i++){
    digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(100);
  digitalWrite(LED_BUILTIN, LOW);   // turn the LED on (HIGH is the voltage level)
  delay(100);
  }
}

void release(){
    motor1.run(RELEASE);
    motor2.run(RELEASE);
    motor3.run(RELEASE);
    motor4.run(RELEASE);
}

void reverse(){
  motor1.run(BACKWARD);
  motor2.run(BACKWARD);
  motor3.run(BACKWARD);
  motor4.run(BACKWARD);
}