Simon Liesinger -- code for semester 1 project 1 year 11 robotics & mechatronics

input_output_demo.ino

// C++ code
//

#include <Servo.h>

long duration;
long dist;
int input;
int timer = 0;
bool locked = false;
bool buzzing = false;
Servo spinner;
int rot = 0;
int highest = 0;
int time_since_highest = 0;

void setup()
{
  pinMode(A0, INPUT);
  pinMode(A1, OUTPUT);
  pinMode(13, INPUT);
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(12, INPUT);
  pinMode(A2, INPUT); //sound sensor
  pinMode(11, OUTPUT);
  for (int i = 2; i < 8; i++) {
    pinMode(i, OUTPUT);
  }
  Serial.begin(9600);
  spinner.attach(11);
}

void loop()
{
  // if (random(200) == 0) {
  //   rot += 90;
  // }
  if (rot > 180) {
    rot -= 270;
  }
  spinner.write(rot);

  //read button and increment counter
  if (digitalRead(13) == HIGH) {
    if (!locked) {
      buzzing = !buzzing;
	    timer += 1;
      locked = true;
    }
  } else {
    locked = false;
  }


  //display timer on the LEDs
  for (int i = 2; i < 7; i++) { //by iterating over their pins
    if ((timer>>(i-2))%2 == 1) { // and accordingly bitshifting timer
      digitalWrite(i, HIGH);
    } else {
      digitalWrite(i, LOW);
    }
  }

  //control buzzer w/ potentiometer
  input = map(analogRead(A0), 0, 1023, 0, 4000); // scale the pot to be within 0-2k hertz.
  // Serial.println(input);
  if (input < 80 || input > 3960 || !buzzing) { // cut off bad values
    noTone(7);
  } else {
    tone(7, input);
  }

  int total = 0;

  for (int i = 0; i < 3; i++) {
    //trigger ultrasonic
    digitalWrite(8, LOW);
    delayMicroseconds(5);
    digitalWrite(8, HIGH);
    delayMicroseconds(5);
    digitalWrite(8, LOW);
    total += pulseIn(12, HIGH);
  }
	
  //read ultrasonic
  duration = map(total/3, 0, 2000, 100, 0); //2000 is approximately the maximum value of the ultrasonic sensor
  
  duration = duration < 0 ? 0 : duration; //but only approximately.

  Serial.println(duration);
  
  if (duration > 40) {
    analogWrite(9, 20);
    digitalWrite(10, HIGH);
    digitalWrite(A1, LOW);
    // with more motors this would drive one faster than the other to turn
  } else {
    analogWrite(9, 20);
    digitalWrite(A1, HIGH);
    digitalWrite(10, LOW);
    // all motors at the same speed
  }
  analogWrite(9, 255);

  total = 0;
  for (int i = 0; i < 10; i++) {
    total += analogRead(A2);
    delay(5);
  }
  if (total > highest) {
    highest = total;
    time_since_highest = 0;
  } else {
    time_since_highest++;
  }

  if (time_since_highest > 100) {
    highest = 0;
  }
  // Serial.println(highest);

  if (total > 1400) {
    rot += 90;
  }

}