See video of mouse in action: LinkedIn
This file contains ALL the variables to control every aspect of your mouse, all in one place.
// *** Recommended order to configure: ***
CELL_DISTANCE
LEFT_MOTOR_BIAS
RIGHT_MOTOR_BIAS
// Use `testMotors()` for these.
LC_LEFT_RIGHT_BIAS
LC_LEFT_IR_VALUE
LC_RIGHT_IR_VALUE
FRONT_IR_VALUE_DIFF
// Use `testIrReadings()` for these, looking at Serial Plotter.
TURN_LEFT_DEG_TO_STEPS_MULTIPLIER
TURN_RIGHT_DEG_TO_STEPS_MULTIPLIER
// Watch it turning and adjust accordilngly.It's recommended to call these methods from 'YourAlgorithm'.
void startOffsetAction();
// Moves the mouse forwards 80% of a cell. Offsetting it enough to check the walls in the next cell.
// Called at the begining of the algorithm and after `turnAroundAction`.
void moveForwardAction();
// Moves the mouse 1 cell forwards.
// Lane centering is active.
void turnRightAction();
// Turns the mouse 90 degrees right.
void turnLeftAction();
// Turns the mouse 90 degrees left.
void turnAroundAction();
// Turns the mouse 180 degress, in the direction furthest from a wall to avoid collision.
int* getCell(int direction);
// Returns the cell in the `direction` relative to mouse.
// For example, if mouse at [10, 5] facing EAST, getCell(NORTH) returns [9, 5].
// For example, if mouse at [10, 5] facing SOUTH, getCell(NORTH) returns [10, 4].
float distToMiddle(Cell coord);
// Returns the distance from `coord` to middle.
// Use this in combination with `getCell`, like: distToMiddle(getCell(NORTH));
bool wallLeft = true;
bool wallRight = true;
bool wallBack = true;
bool wallFront = false;
// Variables to store current surrounding walls.
bool fatalError = false;
// If `true`, causes mouse to stop.
// Updates this in `Main.ino` line 82.
bool collisionDetectionActive = false;
// When `true`, monitors the IMU and sets `fatalError` to `true` if IMU data goes above threshold, indicating a collision.
// Threshold set in `Gyro.cpp` line 3.
bool laneCenteringActive = false;
// When `true`, enables lane centering. Also enables contunuous IR sensor readings.
bool updateGyroData = false;
// When `true`, continuously gets data from gyro, and updates Z angle.
// This is quite intensive, and slows down the program loop. So only enables when required, like when turning.
// But gyro seems inacurate anyway. So not being used.void print(String text, int priority);
// Logs the text `text` to the serial console if the global variable `DEBUG_MODE` is greater than `priority`.
void ledOn();
// Turns the Arduino's built in LED on.
void ledOff();
// Turns the Arduino's built in LED off.
void printLoopTime();
// If called from a `loop`ing function, it prints the time to complete 1 cycle.When cloning this repo, ensure all files are in directory matching .ion file, so 'Main'.
Create your maze-solving algorthim in YourAlgorithm.cpp.
Make use of the methods described above, and make sure to set the configurations in config.h.
<Arduino_LSM9DS1.h> Used to control the IMU & Gyro.
- Peter Metcalfe
CC BY-NC-SA 4.0