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nationalsCodev1.ino
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nationalsCodev1.ino
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/*
White Station High School Science Olympiad Electric Vehicle Code
Written by Justin Du & Nilai Vemula
*/
/* Stuff to change at competition */
// Distance where car should switch from fast to slow
const long CHANGE_SPEED_DISTANCE = 8.5;
// Final distance
const long FINAL_DISTANCE = 9.5;
/* Wiring Information */
/* Encoder */
// Red - 5V
// Black - GND
// Signal A in D2
const int ENCODER_A = 2;
// Signal B in D3
const int ENCODER_B = 3;
/* Motor Shield */
// Motor PWM - connected to pin 5 (Check jumper).
const int PIN_PWM = 5;
// Motor DIR - connected to pin 4 (Check jumper).
const int PIN_DIR = 4;
// Set initial values
void reset() {
long ENCODER_VALUE = 0;
long REAL_DISTANCE = 0;
}
// Setup function
void setup() {
// Call the reset
reset();
// Error handling
Serial.begin(9600);
// Attach encoders
pinMode( ENCODER_A, INPUT_PULLUP );
pinMode( ENCODER_B, INPUT_PULLUP );
// Attach encoder interrupt
attachInterrupt(0, encoderPinChangeA, CHANGE );
attachInterrupt(1, encoderPinChangeB, CHANGE );
// Motor Speed
pinMode(PIN_PWM, OUTPUT);
// Motor Direction
pinMode(PIN_DIR, OUTPUT);
}
// Loop - FOREVER
void loop() {
// Print encoder value
Serial.print("Encoder value: ");
Serial.println(ENCODER_VALUE);
// Calculate real distance
REAL_DISTANCE = abs( ( ( encoder / 600 ) * ( 3.14159 * 0.123825 ) ) )
// Print real distance
Serial.print("Real Distance in meters: ");
Serial.println(REAL_DISTANCE);
// Control motor based on the encoder value
if ( REAL_DISTANCE < CHANGE_SPEED_DISTANCE ) {
// Fast speed - ranges from 0(slow) to 255(fast)
analogWrite(pinPwm, 200);
digitalWrite(pinDir, LOW);
}
else {
// Slow speed
analogWrite(pinPwm, 50);
digitalWrite(pinDir, LOW);
}
}
/* DO NOT EDIT - USED TO UPDATE ENCODER VALUES */
void encoderPinChangeA() {
// Check if encoders equal to each other
ENCODER_VALUE += digitalRead(ENCODER_A) == digitalRead(ENCODER_B) ? -1 : 1;
}
void encoderPinChangeB() {
// Check if encoders equal to each other
ENCODER_VALUE += digitalRead(ENCODER_A) != digitalRead(ENCODER_B) ? -1 : 1;
}