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‎README.adoc‎

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= Attiny84_IO_basic Library for robot Cing =
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This library allows robot Cing to be programmed easily.
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For more information about this library please visit us at
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http://robotcing.wz.sk
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== License ==
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Copyright © 2019 RobotCing Team. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.

‎keywords.txt‎

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/*
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Created by RobotCing Team
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*/
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###########################################
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# Syntax Coloring Map For Attiny84_IO_basic
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###########################################
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###########################################
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# Datatypes (KEYWORD1)
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###########################################
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Attiny84_IO_basic KEYWORD1
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###########################################
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# Methods and Functions (KEYWORD2)
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###########################################
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Robot KEYWORD2
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RunMotor KEYWORD2
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ReadLightSensor KEYWORD2
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ReadUltrasonicSensor KEYWORD2
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ReadShineSensor KEYWORD2
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ReadButtonExternal KEYWORD2
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ReadPotentiometerExternal KEYWORD2
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###########################################
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# Constants (LITERAL1)
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###########################################

‎library.properties‎

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name=Attiny84_IO_basic
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version=3.0.0
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author=RobotCing Team
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maintainer=RobotCing Team <robotcing@gmail.com>
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sentence=Library for robot Cing with Attiny84.
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paragraph=This library simplifies programming of robot Cing.
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category=Uncategorized
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url=http://robotcing.wz.sk
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architectures=*

‎src/Attiny84_IO_basic.cpp‎

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/*
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Created by RobotCing Team
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*/
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//--------------------------------------------
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// Library import
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//--------------------------------------------
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#include "Arduino.h"
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#include "Attiny84_IO_basic.h"
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//--------------------------------------------
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Cing::Cing(){}
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//--------------------------------------------
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// Motors
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//--------------------------------------------
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void Cing::RunMotor(String motor,int speed,String mode)
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{
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#define motorA 5
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#define motorB 6
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#define INA1 7
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#define INA2 8
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#define INB1 9
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#define INB2 10
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pinMode(motorA,OUTPUT);
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pinMode(motorB,OUTPUT);
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//---------------------
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pinMode(INA1,OUTPUT);
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pinMode(INA2,OUTPUT);
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pinMode(INB1,OUTPUT);
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pinMode(INB2,OUTPUT);
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if(mode=="analog")
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{
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int speed_set = map(speed,-100,100,-255,255);
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if(motor=="A")
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{
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if (speed > 0)
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{
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digitalWrite(INA1,HIGH);
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digitalWrite(INA2,LOW);
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analogWrite(motorA,speed_set);
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}
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else if (speed < 0)
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{
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digitalWrite(INA1,LOW);
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digitalWrite(INA2,HIGH);
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analogWrite(motorA,abs(speed_set));
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}
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else
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{
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analogWrite(motorA,LOW);
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}
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}
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else if(motor=="B")
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{
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if (speed > 0)
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{
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digitalWrite(INB1,HIGH);
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digitalWrite(INB2,LOW);
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analogWrite(motorB,speed_set);
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}
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else if (speed < 0)
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{
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digitalWrite(INB1,LOW);
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digitalWrite(INB2,HIGH);
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analogWrite(motorB,abs(speed_set));
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}
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else
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{
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analogWrite(motorB,LOW);
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}
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}
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else if(motor=="AB")
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{
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if (speed > 0)
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{
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digitalWrite(INA1,HIGH);
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digitalWrite(INA2,LOW);
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digitalWrite(INB1,HIGH);
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digitalWrite(INB2,LOW);
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analogWrite(motorA,speed_set);
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analogWrite(motorB,speed_set);
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}
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else if (speed < 0)
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{
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digitalWrite(INA1,LOW);
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digitalWrite(INA2,HIGH);
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digitalWrite(INB1,LOW);
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digitalWrite(INB2,HIGH);
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analogWrite(motorA,abs(speed_set));
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analogWrite(motorB,abs(speed_set));
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}
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else
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{
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analogWrite(motorA,LOW);
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analogWrite(motorB,LOW);
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}
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}
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else
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{
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analogWrite(motorA,0);
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analogWrite(motorB,0);
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}
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}
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else if(mode=="digital")
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{
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int speed_set;
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if (speed == 1 || speed == -1)
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{
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speed_set = HIGH;
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}
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else if (speed == 0)
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{
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speed_set = LOW;
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}
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//--------------------------
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// A
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//--------------------------
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if(motor=="A")
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{
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if (speed == 1)
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{
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digitalWrite(INA1,HIGH);
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digitalWrite(INA2,LOW);
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digitalWrite(motorA,speed_set);
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}
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else if (speed == -1)
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{
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digitalWrite(INA1,LOW);
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digitalWrite(INA2,HIGH);
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digitalWrite(motorA,speed_set);
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}
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else if (speed == 0)
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{
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digitalWrite(motorA,speed_set);
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}
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}
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//--------------------------
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// B
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//--------------------------
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else if(motor=="B")
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{
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if (speed == 1)
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{
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digitalWrite(INB1,HIGH);
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digitalWrite(INB2,LOW);
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digitalWrite(motorB,speed_set);
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}
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else if (speed == -1)
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{
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digitalWrite(INB1,LOW);
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digitalWrite(INB2,HIGH);
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digitalWrite(motorB,speed_set);
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}
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else if (speed == 0)
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{
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digitalWrite(motorB,speed_set);
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}
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}
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//--------------------------
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// AB
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//--------------------------
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else if(motor=="AB")
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{
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if (speed == 1)
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{
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digitalWrite(INA1,HIGH);
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digitalWrite(INA2,LOW);
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digitalWrite(INB1,HIGH);
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digitalWrite(INB2,LOW);
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digitalWrite(motorA,speed_set);
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digitalWrite(motorB,speed_set);
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}
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else if (speed == -1)
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{
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digitalWrite(INA1,LOW);
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digitalWrite(INA2,HIGH);
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digitalWrite(INB1,LOW);
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digitalWrite(INB2,HIGH);
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digitalWrite(motorA,speed_set);
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digitalWrite(motorB,speed_set);
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}
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else if (speed == 0)
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{
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digitalWrite(motorA,speed_set);
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digitalWrite(motorB,speed_set);
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}
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}
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else
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{
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digitalWrite(motorA,LOW);
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digitalWrite(motorB,LOW);
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}
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}
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}
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//--------------------------------------------
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// Sensors
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//--------------------------------------------
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//--------------------------------------------
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// LightSensor
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//--------------------------------------------
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int Cing::ReadLightSensor(int sensor,String mode)
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{
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#define LightSensor1 A1
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#define LightSensor2 A0
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pinMode(LightSensor1,INPUT);//1
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pinMode(LightSensor2,INPUT);//2
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int value;
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if (mode=="analog")
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{
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if (sensor == 1)
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{
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value = map(analogRead(LightSensor1),0,1023,100,0);
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return value;
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}
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else if (sensor == 2)
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{
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value = map(analogRead(LightSensor2),0,1023,100,0);
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return value;
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}
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}
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else if(mode=="digital")
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{
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if (sensor == 1)
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{
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value = digitalRead(LightSensor1);
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return value;
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}
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else if (sensor == 2)
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{
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value = digitalRead(LightSensor2);
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return value;
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}
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else
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{
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value = digitalRead(LightSensor1);
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return value;
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}
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}
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}
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//--------------------------------------------
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// UltrasonicSensor
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//--------------------------------------------
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int Cing::ReadUltrasonicSensor()
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{
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#define UltrasonicSensor 4
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int duration;
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int distance;
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pinMode(UltrasonicSensor, OUTPUT);
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digitalWrite(UltrasonicSensor, LOW);
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delayMicroseconds(2);
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digitalWrite(UltrasonicSensor, HIGH);
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delayMicroseconds(10);
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digitalWrite(UltrasonicSensor, LOW);
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delayMicroseconds(10);
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pinMode(UltrasonicSensor, INPUT);
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duration = pulseIn(UltrasonicSensor, HIGH);
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distance = duration/58.2;
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return distance;
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}
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//--------------------------------------------
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// ShineSensor
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//--------------------------------------------
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int Cing::ReadShineSensor()
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{
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#define ShineSensor A4
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int shine_value;
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pinMode(ShineSensor,INPUT);
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shine_value = map(analogRead(ShineSensor),50,700,0,100);
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return shine_value;
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}
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//--------------------------------------------
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// ButtonExternal
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//--------------------------------------------
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bool Cing::ReadButtonExternal()
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{
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#define button_external A4
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pinMode(button_external,INPUT);
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bool button_external_value = digitalRead(button_external);
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return button_external_value;
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}
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//--------------------------------------------
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// PotentiometerExternal
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//--------------------------------------------
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int Cing::ReadPotentiometerExternal()
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{
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#define Potentiometer A4
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pinMode(Potentiometer,INPUT);
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int Potentiometer_value = map(analogRead(Potentiometer),0,1023,0,100);
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return Potentiometer_value;
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}

‎src/Attiny84_IO_basic.h‎

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/*
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Created by RobotCing Team
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*/
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#ifndef Attiny84_IO_basic
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#define Attiny84_IO_basic
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#include "Arduino.h"
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//--------------------------------------------
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// Creating Class
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//--------------------------------------------
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class Cing
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{
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// public variables
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public:
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//constructor
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Cing();
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void RunMotor(String motor,int speed= 100,String mode = "digital");
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int ReadLightSensor(int sensor = 1,String mode = "digital");
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int ReadUltrasonicSensor();
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int ReadShineSensor();
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bool ReadButtonExternal()
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int ReadPotentiometerExternal();
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// local variables
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private:
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};
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#endif

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