v 1.0: WheelBot has a separate module to control motors, but still do…

…esn't have sonar sensor so it can't know where to go. You can control him programmatically hardcoding directions, turns and other actions based on timing.

.gitignore

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+.idea/

README.md

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+# WheelBot-01
+Arduino-based robot which can measure the distance ahead of it using ultra-sonic sensor 
+and decide where to go next, thus avoiding crashes with walls and obstacles.
+

WheelBot-01/Motors.ino

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+void rotate() {
+  brakeOff();
+  leftForward(SPEED_LOW, 0);
+  rightBackward(SPEED_LOW, 0);
+  delay(790);
+}
+
+void turnRight() {
+  brakeOff();
+  leftForward(SPEED_LOW, 0);
+  rightBackward(SPEED_LOW, 0);
+  delay(500);
+}
+
+void turnLeft() {
+  brakeOff();
+  leftBackward(SPEED_LOW, 0);
+  rightForward(SPEED_LOW, 0);
+  delay(500);
+}
+
+void goForward(unsigned int speed, unsigned int time) {
+  leftForward(speed - LEFT_DECREASE, 0);
+  rightForward(speed - RIGHT_DECREASE, 0);
+  if (time > 0) {
+    delay(time);
+  }
+}
+void leftForward(unsigned int speed, unsigned int time) {
+  brakeOff();
+  digitalWrite(LEFT_DIRECTION, HIGH);
+  leftSpeed(speed);
+  if (time > 0) {
+    delay(time);
+  }
+}
+void rightForward(unsigned int speed, unsigned int time) {
+  brakeOff();
+  digitalWrite(RIGHT_DIRECTION, LOW);
+  rightSpeed(speed);
+  if (time > 0) {
+    delay(time);
+  }
+}
+
+void goBackward(unsigned int speed, unsigned int time) {
+  leftBackward(speed, 0);
+  rightBackward(speed, 0);
+   if (time > 0) {
+    delay(time);
+  }
+}
+void leftBackward(unsigned int speed, unsigned int time) {
+  digitalWrite(LEFT_DIRECTION, LOW);
+  leftSpeed(speed);
+  if (time > 0) {
+    delay(time);
+  }
+}
+void rightBackward(unsigned int speed, unsigned int time) {
+  digitalWrite(RIGHT_DIRECTION, HIGH);
+  rightSpeed(speed);
+  if (time > 0) {
+    delay(time);
+  }
+}
+
+void changeSpeed(unsigned int speed) {
+  leftSpeed(speed);
+  rightSpeed(speed);
+}
+void leftSpeed(unsigned int speed) {
+  analogWrite(LEFT_SPEED, speed);
+}
+void rightSpeed(unsigned int speed) {
+  analogWrite(RIGHT_SPEED, speed);
+}
+
+void brakeOn(unsigned int time) {
+  leftBrakeOn(0);
+  rightBrakeOn(0);
+  if (time > 0) {
+    delay(time);
+  }
+}
+void leftBrakeOn(unsigned int time) {
+  digitalWrite(LEFT_BRAKE, HIGH);
+  if (time > 0) {
+    delay(time);
+  }
+}
+void rightBrakeOn(unsigned int time) {
+  digitalWrite(RIGHT_BRAKE, HIGH);
+  if (time > 0) {
+    delay(time);
+  }
+}
+
+void brakeOff() {
+  leftBrakeOff();
+  rightBrakeOff();
+}
+void leftBrakeOff() {
+  digitalWrite(LEFT_BRAKE, LOW);
+}
+void rightBrakeOff() {
+  digitalWrite(RIGHT_BRAKE, LOW);
+}
+
+int getLeftConsumption() {
+  return analogRead(LEFT_SNS);
+}
+int getRightConsumption() {
+  return analogRead(RIGHT_SNS);
+}
+
+void logCurrentConsumption(String msg) {
+  Serial.print("Left motor current consumption ");Serial.print(msg);Serial.println(getLeftConsumption());
+  Serial.print("Right motor current consumption ");Serial.print(msg);Serial.println(getRightConsumption());
+}

WheelBot-01/Util.ino

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+void initLogger() {
+  #if DEBUG_MODE
+    Serial.begin(DEBUG_RATE);
+  #endif
+}

WheelBot-01/WheelBot-01.ino

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+#define DEBUG_MODE true
+#define DEBUG_RATE 9600
+
+#define LEFT_DECREASE 0
+#define RIGHT_DECREASE 2
+
+#define LEFT_SPEED 3
+#define LEFT_DIRECTION 12
+#define LEFT_BRAKE 9
+#define LEFT_SNS A0
+
+#define RIGHT_SPEED 11
+#define RIGHT_DIRECTION 13
+#define RIGHT_BRAKE 8
+#define RIGHT_SNS A1
+
+#define SPEED_MAX 255
+#define SPEED_MEDIUM 150
+#define SPEED_LOW 70
+#define SPEED_ZERO 0
+
+void setup() {
+  initLogger();
+
+  pinMode(LEFT_BRAKE, OUTPUT);
+  pinMode(LEFT_DIRECTION, OUTPUT);
+
+  pinMode(RIGHT_BRAKE, OUTPUT);
+  pinMode(RIGHT_DIRECTION, OUTPUT);
+}
+
+void loop() {
+  goForward(SPEED_LOW, 3500);
+  brakeOn(500);
+
+  rotate();
+  brakeOn(1000);
+
+  goForward(SPEED_LOW, 3500);
+  brakeOn(500);
+
+  while(1);
+}