2_sensors.ino

// 2_sensors.ino
//
// Example robotics code for CODE @ TACC
// Summer 2016 robotics curriculum, available at:
//
// https://github.com/CODE-at-TACC/summer-2016
//
// Copyright 2016, Texas Advanced Computing Center
// GNU GPLv3 License

/******************************************
Included libraries
******************************************/
#include "codetacc-robotics/codetacc-robotics.h"

/******************************************
Variables
******************************************/

Adafruit_MotorShield shield = Adafruit_MotorShield();
Adafruit_DCMotor *leftMotor = shield.getMotor(1);
Adafruit_DCMotor *rightMotor = shield.getMotor(2);


UltrasonicSensor ultrasonic = UltrasonicSensor(2, 4);
double distance = 0;

/******************************************
Custom functions
******************************************/

int forward(String params = "") {
  leftMotor->run(FORWARD);
  rightMotor->run(FORWARD);
  return 1;
}

int left(String params = "") {
  leftMotor->run(BACKWARD);
  rightMotor->run(FORWARD);
  return 1;
}

int right(String params = "") {
  leftMotor->run(FORWARD);
  rightMotor->run(BACKWARD);
  return 1;
}

int stop(String params = "") {
  leftMotor->run(RELEASE);
  rightMotor->run(RELEASE);
  return 1;
}

/******************************************
void setup()
Runs once upon startup
******************************************/

void setup() {
  shield.begin();
  leftMotor->setSpeed(150);
  rightMotor->setSpeed(150);
  
  Particle.variable("distance", distance);
}

/******************************************
void loop()
Runs forever
******************************************/

void loop() {
  forward();
  delay(1000);
  stop();
  delay(1000);
  left();
  delay(1000);
  right();
  delay(1000);
  
  distance = ultrasonic.readCm();
  delay(1000);  
}