Build process

.travis.yml

@@ -0,0 +1,4 @@
+language: c
+compiler:
+  - gcc
+script: script/bootstrap.sh

README.md

@@ -1,5 +1,7 @@
 # HaxBot
 
+<a href='https://travis-ci.org/sebdah/git-pylint-commit-hook'><img src='https://secure.travis-ci.org/bboortz/HaxBot.png?branch=master'></a>
+
 ## Setting up new environment
 
 * git clone https://github.com/fheutz/HaxBot.git

lib/DistanceSensorLib/DistanceSensorLib.h

@@ -27,4 +27,5 @@ class DistanceSensor {
 		//	CONSTANTS
 };
 
+
 #endif

lib/StepperLib/StepperLib.cpp

@@ -13,8 +13,6 @@ Stepper::Stepper() {
 	STEPPER1 = AccelStepper(HALFSTEP, defaultMotorPin1, defaultMotorPin3, defaultMotorPin2, defaultMotorPin4);
 	STEPPER2 = AccelStepper(HALFSTEP, defaultMotorPin5, defaultMotorPin7, defaultMotorPin6, defaultMotorPin8);
 
-	delay(1000);
-
 	initializeStepper(&STEPPER1);
 	initializeStepper(&STEPPER2); 
 }
@@ -23,8 +21,6 @@ Stepper::Stepper(short motor1Pins[], short motor2Pins[]) {
 	STEPPER1 = AccelStepper(HALFSTEP, motor1Pins[0], motor1Pins[2], motor1Pins[1], motor1Pins[3]);
 	STEPPER2 = AccelStepper(HALFSTEP, motor2Pins[0], motor2Pins[2], motor2Pins[1], motor2Pins[3]);
 
-	delay(1000);
-
 	initializeStepper(&STEPPER1);
 	initializeStepper(&STEPPER2); 
 }
@@ -92,4 +88,6 @@ void Stepper::turnRight(int distance) {
   executeMove();
 }
 
-
+uint16_t Stepper::getDistanceToGo() {
+	return _STEPS1;
+}

lib/StepperLib/StepperLib.h

@@ -1,5 +1,5 @@
-#ifndef _DISTANCE_SENSOR_LIB_
-#define _DISTANCE_SENSOR_LIB_
+#ifndef _STEPPER_LIB_
+#define _STEPPER_LIB_
 
 
 #include <Arduino.h>
@@ -20,7 +20,6 @@
 #define defaultMotorPin7  10    // IN3 on the ULN2003 driver 2
 #define defaultMotorPin8  11    // IN4 on the ULN2003 driver 2
 
-
 class Stepper {
 
 	public:
@@ -36,6 +35,7 @@ class Stepper {
 		void moveBackward(int distance);
 		void turnLeft(int distance);
 		void turnRight(int distance);
+		uint16_t getDistanceToGo();
 
 	private:
 
@@ -46,12 +46,13 @@ class Stepper {
 		AccelStepper STEPPER1;
 		AccelStepper STEPPER2;
 
-		int16_t _STEPS1 = 0;
-		int16_t _STEPS2 = 0;
+		uint16_t _STEPS1 = 0;
+		uint16_t _STEPS2 = 0;
 
 		//	CONSTANTS
-		int16_t _stepperSpeed = 1000;
-		int16_t _stepperMaxSpeed = 2000;
+		uint16_t _stepperSpeed = 1000;
+		uint16_t _stepperMaxSpeed = 2000;
 };
 
+
 #endif

src/HaxBot_with_DistanceSensor/HaxBot_with_DistanceSensor.cpp

@@ -0,0 +1,152 @@
+#include <Arduino.h>
+#include <AccelStepper.h>
+#include <StepperLib.h>
+#include <DistanceSensorLib.h>
+
+
+// #define DEBUG 1
+#define STEPS 4076 / 4
+
+#define FORWARD 0
+#define LEFT 1
+#define RIGHT 2
+#define BACKWARD 4
+
+
+DistanceSensor *ds;
+Stepper *stepper;
+uint16_t loopCount = 0;
+uint16_t loopMaxCount = 10000;
+uint16_t stepOfMove = 0;
+uint8_t turn = FORWARD;
+
+
+
+
+void setup() {
+	Serial.begin(115200);
+	Serial.println("### START PROGRAM ###");
+
+	stepper = new Stepper;
+	ds = new DistanceSensor;
+
+	// Timer0 is already used for millis() - we'll just interrupt somewhere
+	// in the middle and call the "Compare A" function below
+//	OCR0A = 0xAF;
+//	TIMSK0 |= _BV(OCIE0A);
+
+	delay(1000);
+
+}
+
+// Interrupt is called once a millisecond, looks for any new GPS data, and stores it
+//SIGNAL(TIMER0_COMPA_vect) {
+//	Serial.println("timer");
+//} 
+
+
+
+void turnLeft(int distance) {
+	if (stepOfMove == 0) {
+		stepper->turnLeft(distance);
+		stepOfMove = 1;
+	} else {
+		uint16_t distance = stepper->getDistanceToGo();
+		if (distance == 0) {
+			stepOfMove = 0;
+		} else {
+			stepper->executeMove();
+		}
+	}
+}
+
+void turnRight(int distance) {
+	if (stepOfMove == 0) {
+		stepper->turnRight(distance);
+		stepOfMove = 1;
+	} else {
+		uint16_t distance = stepper->getDistanceToGo();
+		if (distance == 0) {
+			stepOfMove = 0;
+		} else {
+			stepper->executeMove();
+		}
+	}
+
+}
+
+void moveForward(int distance) {
+	if (stepOfMove == 0) {
+		stepper->moveForward(distance);
+		stepOfMove = 1;
+	} else {
+		uint16_t distance = stepper->getDistanceToGo();
+		if (distance == 0) {
+			stepOfMove = 0;
+		} else {
+			stepper->executeMove();
+		}
+	}
+}
+
+void moveBackward(int distance) {
+	if (stepOfMove == 0) {
+		stepper->moveBackward(distance);
+		stepOfMove = 1;
+	} else {
+		uint16_t distance = stepper->getDistanceToGo();
+		if (distance == 0) {
+			stepOfMove = 0;
+		} else {
+			stepper->executeMove();
+		}
+	}
+}
+
+
+void loop() {
+
+
+	// detect obstacles
+	if (loopCount % 10001 == 0) {
+		long distance = ds->getDistance();
+	}
+
+	// detect obstacles
+	if (loopCount % 10001 == 0) {
+		long distance = ds->getDistance();
+		Serial.println(distance);
+		if (distance == 0) {
+		} else if (distance < 20) {
+			if (turn == FORWARD) {
+				turn = LEFT;
+				stepOfMove = 0;
+			} else {
+				turn = FORWARD;
+			}
+		} else {
+			turn = FORWARD;
+		}
+		loopCount = 0;
+	}
+
+
+	// move robot
+	if (loopCount % 100 == 0) {
+		if (turn == LEFT) {
+			turnLeft(STEPS);
+		} else if (turn == RIGHT) {
+			turnRight(STEPS);
+		} else if (turn == FORWARD) {
+			moveForward(STEPS);
+		} else if (turn == BACKWARD) {
+			moveBackward(STEPS);
+		}
+	}
+
+
+	loopCount++;
+
+
+}
+

src/HaxBot_with_DistanceSensor/Makefile

@@ -0,0 +1,88 @@
+### DISCLAIMER
+### This is an example Makefile and it MUST be configured to suit your needs.
+### For detailled explanations about all the avalaible options,
+### please refer to https://github.com/sudar/Arduino-Makefile/blob/master/arduino-mk-vars.md
+
+### PROJECT_DIR
+### This is the path to where you have created/cloned your project
+PROJECT_DIR       = ../..
+
+### AVR_GCC_VERSION
+### Check if the version is equal or higher than 4.9
+AVR_GCC_VERSION  := $(shell expr `avr-gcc -dumpversion | cut -f1` \>= 4.9)
+
+### ARDMK_DIR
+### Path to the Arduino-Makefile directory.
+ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+
+### ARDUINO_DIR
+### Path to the Arduino application and ressources directory.
+ARDUINO_DIR       = $(PROJECT_DIR)/arduino
+
+### USER_LIB_PATH
+### Path to where the your project's libraries are stored.
+USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+
+### BOARD_TAG & BOARD_SUB
+### for arduino nano
+#BOARD_TAG   = nano
+#BOARD_SUB   = atmega328
+### for arduino uno
+BOARD_TAG   = uno
+### for arduino mega
+#BOARD_TAG   = mega
+#BOARD_SUB  = atmega2560
+
+### MONITOR_BAUDRATE
+### It must be set to Serial baudrate value you are using.
+MONITOR_BAUDRATE  = 115200
+
+### AVR_TOOLS_DIR
+### Path to the AVR tools directory such as avr-gcc, avr-g++, etc.
+#AVR_TOOLS_DIR     = /usr
+
+### AVRDDUDE
+### Path to avrdude directory.
+AVRDDUDE     = /usr/bin/avrdude
+AVRDUDE_CONF = /etc/avrdude.conf
+#AVRDDUDE          = /home/benni/Arduino/avrdude-6.3
+
+### CFLAGS_STD
+CFLAGS_STD        = -std=gnu11
+
+### CXXFLAGS_STD
+CXXFLAGS_STD      = -std=gnu++11
+
+### CPPFLAGS
+### Flags you might want to set for debugging purpose. Comment to stop.
+CXXFLAGS         = -pedantic -Wall -Wextra
+
+### If avr-gcc -v is higher than 4.9, activate coloring of the output
+ifeq "$(AVR_GCC_VERSION)" "1"
+    CXXFLAGS += -fdiagnostics-color
+endif
+
+### MONITOR_PORT
+### The port your board is connected to. Using an '*' tries all the ports and finds the right one.
+#MONITOR_PORT      = /dev/ttyUSB0
+MONITOR_PORT      = /dev/ttyACM0
+
+### ADUINO PORT
+#ARDUINO_PORT = /dev/ttyUSB0
+ARDUINO_PORT = /dev/ttyACM0
+
+### don't touch this
+CURRENT_DIR       = $(shell basename $(CURDIR))
+
+### OBJDIR
+### This is were you put the binaries you just compile using 'make'
+CURRENT_DIR       = $(shell basename $(CURDIR))
+OBJDIR            = $(PROJECT_DIR)/bin/$(CURRENT_DIR)/$(BOARD_TAG)
+
+# ARDUINO_LIBS
+#ARDUINO_LIBS = DistanceSensorLib StepperLib AccelStepper
+#ARDUINO_LIBS = StepperLib AccelStepper
+
+### path to Arduino.mk, inside the ARDMK_DIR, don't touch.
+include $(ARDMK_DIR)/Arduino.mk
+