Hey guys,
Need some help, i got my robot to move using COGX to track left and right movement. Now i need to use Box_SIZE to know how far away the item is so the robot will move until the box_size hits a certain number. Right now im using the serial module to send the serial to my arduino which controller my motors using a motor driver. I need to know how to send 2 variables now. both cog_x and box_size. Here is my code so far.
int ENA=5;//connected to Arduino's port 5(output pwm)
int IN1=10;//connected to Arduino's port 2
int IN2=3;//connected to Arduino's port 3
int ENB=6;//connected to Arduino's port 6(output pwm)
int IN3=11;//connected to Arduino's port 4
int IN4=9;//connected to Arduino's port 7
int rled = 13;
int lled = 12;
byte distance;
void setup(void)
{
Serial.begin(9600); // begin serial communication
pinMode(rled,OUTPUT);
pinMode(lled,OUTPUT);
pinMode(ENA,OUTPUT);//output
pinMode(ENB,OUTPUT);
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
digitalWrite(ENA,LOW);
digitalWrite(ENB,LOW);//stop driving
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);//setting motorA's directon
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);//setting motorB's directon
}
void loop(void)
{
if (Serial.available()>0)
{
while(Serial.available()>0)
{
distance = Serial.read(); // read in the next byte
if(distance > 0 && distance < 50)
{
left();
}
else if (distance > 100)
{
right();
}
else if(distance > 49 && distance < 101)
{
brake();
}
else if (distance == 0 || distance == -1)
{
brake();
}
}
}
}
void brake()
{
digitalWrite(lled,HIGH);
digitalWrite(rled,HIGH);
analogWrite(ENA,LOW);
analogWrite(ENB,LOW);
}
void left()
{
digitalWrite(lled,HIGH);
digitalWrite(rled,LOW);
analogWrite(ENA,150);
}
void right()
{
digitalWrite(rled,HIGH);
digitalWrite(lled,LOW);
analogWrite(ENB,150);
}
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