Scribd Logo
Upload

Welcome to Scribd!

  • Untitled

    Uploaded by

    Mark christian Lacap
    13 views6 pages
    This document defines constants and functions for controlling an RFID reader, motors, sensors and LEDs on a robot. It includes functions for moving the robot forward, backward, left and right. It also includes functions for reading RFID tags, checking sensor readings and controlling the LED lights. The main loop listens for commands over serial and calls the appropriate function to control the robot behavior based on sensor readings and detected RFID tags.

    Original Description:

    Copyright

    © © All Rights Reserved

    Available Formats

    TXT, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document defines constants and functions for controlling an RFID reader, motors, sensors and LEDs on a robot. It includes functions for moving the robot forward, backward, left and right. It also includes functions for reading RFID tags, checking sensor readings and controlling the LED lights. The main loop listens for commands over serial and calls the appropriate function to control the robot behavior based on sensor readings and detected RFID tags.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    13 views6 pages

    Untitled

    Uploaded by

    Mark christian Lacap
    This document defines constants and functions for controlling an RFID reader, motors, sensors and LEDs on a robot. It includes functions for moving the robot forward, backward, left and right. It also includes functions for reading RFID tags, checking sensor readings and controlling the LED lights. The main loop listens for commands over serial and calls the appropriate function to control the robot behavior based on sensor readings and detected RFID tags.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    of 6

    #include <MFRC522.

    h>
    #include <SPI.h>

    #define L1_MOTOR 30
    #define L2_MOTOR 31
    #define L_ENA 6

    #define R1_MOTOR 32
    #define R2_MOTOR 33
    #define R_ENA 7

    #define TRIG_PIN 34
    #define ECHO_PIN 35

    #define L_IR 36
    #define R_IR 37

    #define RED_LED 38
    #define GREEN_LED 39
    #define BLUE_LED 40

    #define RST_PIN 5
    #define SS_PIN 53
    MFRC522 mfrc522 (SS_PIN, RST_PIN);

    int distance;
    int counter;
    long duration;
    String content;
    String command;
    bool flag = true;

    void setup ()
    {
    Serial.begin (9600);
    SPI.begin ();
    mfrc522.PCD_Init ();

    Serial.println ("STARTING");
    delay (500);
    Serial.println ("PLEASE WAIT . . . ");
    delay (2500);

    pinMode (L1_MOTOR, OUTPUT);


    pinMode (L2_MOTOR, OUTPUT);
    pinMode (L_ENA, OUTPUT);

    pinMode (R1_MOTOR, OUTPUT);


    pinMode (R2_MOTOR, OUTPUT);
    pinMode (R_ENA, OUTPUT);

    pinMode (TRIG_PIN, OUTPUT);


    pinMode (ECHO_PIN, INPUT);

    pinMode (L_IR, INPUT);


    pinMode (R_IR, INPUT);

    pinMode (RED_LED, OUTPUT);


    pinMode (GREEN_LED, OUTPUT);
    pinMode (BLUE_LED, OUTPUT);
    }

    void RED ()
    {
    digitalWrite (RED_LED, HIGH);
    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, LOW);
    }

    void GREEN ()
    {
    digitalWrite (RED_LED, LOW);
    digitalWrite (GREEN_LED, HIGH);
    digitalWrite (BLUE_LED, LOW);
    }

    void BLUE ()
    {
    digitalWrite (RED_LED, LOW);
    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, HIGH);
    }

    void RGB ()
    {
    digitalWrite (RED_LED, HIGH);
    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, LOW);
    delay (500);

    digitalWrite (RED_LED, LOW);


    digitalWrite (GREEN_LED, HIGH);
    digitalWrite (BLUE_LED, LOW);
    delay (500);

    digitalWrite (RED_LED, LOW);


    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, HIGH);
    delay (500);
    }

    void OFF ()
    {
    digitalWrite (RED_LED, LOW);
    digitalWrite (GREEN_LED, LOW);
    digitalWrite (BLUE_LED, LOW);
    }
    //----------------------------------------
    //MOTORs
    void FORWARD ()
    {
    Serial.println ("FORWARD");
    GREEN ();

    digitalWrite (L1_MOTOR, HIGH);


    digitalWrite (L2_MOTOR, LOW);
    analogWrite (L_ENA, 60);
    digitalWrite (R1_MOTOR, HIGH);
    digitalWrite (R2_MOTOR, LOW);
    analogWrite (R_ENA, 60);
    }

    void STOP ()
    {
    Serial.println ("STOP");
    RED ();

    digitalWrite (L1_MOTOR, LOW);


    digitalWrite (L2_MOTOR, LOW);
    analogWrite (L_ENA, 0);

    digitalWrite (R1_MOTOR, LOW);


    digitalWrite (R2_MOTOR, LOW);
    analogWrite (R_ENA, 0);
    }

    void LEFT ()
    {
    Serial.println ("LEFT");
    BLUE ();

    digitalWrite (L1_MOTOR, LOW);


    digitalWrite (L2_MOTOR, HIGH);
    analogWrite (L_ENA, 60);

    digitalWrite (R1_MOTOR, HIGH);


    digitalWrite (R2_MOTOR, LOW);
    analogWrite (R_ENA, 60);
    }

    void RIGHT ()
    {
    Serial.println ("RIGHT");
    BLUE ();

    digitalWrite (L1_MOTOR, HIGH);


    digitalWrite (L2_MOTOR, LOW);
    analogWrite (L_ENA, 60);

    digitalWrite (R1_MOTOR, LOW);


    digitalWrite (R2_MOTOR, HIGH);
    analogWrite (R_ENA, 60);
    }

    //----------------------------------------
    //
    /*void return_One ()
    {

    }*/

    //----------------------------------------
    //RETURN
    void RETURN_LAST ()
    {
    while (flag)
    {
    Serial.println ("DONE!");
    RGB ();
    delay (1500);
    OFF ();

    if (flag == true)
    {
    flag = false;
    counter = 0;
    command = "";
    return ;
    }
    }
    }

    void RETURN ()
    {
    while (flag)
    {
    Serial.println ("RETURNING");
    RGB ();
    delay (1500);
    OFF ();

    if (flag == true)
    {
    flag = false;
    counter = 1;
    command = "";
    return ;
    }
    }
    }

    //----------------------------------------
    //COMMANDS
    void COMMAND_ONE ()
    {
    digitalWrite (TRIG_PIN, LOW);
    delayMicroseconds (2);
    digitalWrite (TRIG_PIN, HIGH);
    delayMicroseconds (10);
    digitalWrite (TRIG_PIN, LOW);

    duration = pulseIn (ECHO_PIN, HIGH);


    distance = duration * 0.032 / 2;

    if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)


    {
    FORWARD ();
    }
    else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == LOW)
    {
    LEFT ();
    }
    else if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == HIGH)
    {
    RIGHT ();
    }
    else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == HIGH || distance <=
    10)
    {
    STOP ();
    }

    if (!mfrc522.PICC_IsNewCardPresent ())
    {
    return ;
    }
    if (!mfrc522.PICC_ReadCardSerial ())
    {
    return ;
    }

    content = "";
    byte letter;

    for (byte i = 0 ; i < mfrc522.uid.size ; i++)


    {
    content.concat (String (mfrc522.uid.uidByte [i] < 0x10 ? " 0" : " "));
    content.concat (String (mfrc522.uid.uidByte [i], HEX));
    }
    content.toUpperCase ();

    if (content.substring (1) == "53 E8 28 60 71 00 01")


    {
    STOP ();
    delay (300);
    LEFT ();
    delay (800);
    STOP ();

    RETURN ();
    }
    }

    void COMMAND_TWO ()
    {
    digitalWrite (TRIG_PIN, LOW);
    delayMicroseconds (2);
    digitalWrite (TRIG_PIN, HIGH);
    delayMicroseconds (10);
    digitalWrite (TRIG_PIN, LOW);

    duration = pulseIn (ECHO_PIN, HIGH);


    distance = duration * 0.032 / 2;

    if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == LOW)


    {
    FORWARD ();
    }
    else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == LOW)
    {
    LEFT ();
    }
    else if (digitalRead (L_IR) == LOW && digitalRead (R_IR) == HIGH)
    {
    RIGHT ();
    }
    else if (digitalRead (L_IR) == HIGH && digitalRead (R_IR) == HIGH || distance <=
    10)
    {
    STOP ();
    }

    if (!mfrc522.PICC_IsNewCardPresent ())
    {
    return ;
    }
    if (!mfrc522.PICC_ReadCardSerial ())
    {
    return ;
    }

    content = "";
    byte letter;

    for (byte i = 0 ; i < mfrc522.uid.size ; i++)


    {
    content.concat (String (mfrc522.uid.uidByte [i] < 0x10 ? " 0" : " "));
    content.concat (String (mfrc522.uid.uidByte [i], HEX));
    }
    content.toUpperCase ();

    if (content.substring (1) == "53 E9 28 60 71 00 01")


    {
    STOP ();
    delay (300);
    LEFT ();
    delay (800);
    STOP ();

    RETURN_LAST ();
    }
    }

    void loop ()
    {
    flag = true ;

    while (Serial.available ())


    {
    command = "";
    command = Serial.readString ();
    }

    if (command == "*cashier#" || command == "*Cashier#")


    {
    COMMAND_ONE ();
    }

    if (counter == 1)
    {
    COMMAND_TWO ();
    }
    }

    You might also like