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#include <Adafruit_MotorShield.h>
//General
//Motors
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *motors[] = {AFMS.getMotor(3), AFMS.getMotor(4)};
#define left 1 //index value in motor pointer array
#define right 0
float IR_avgs[num_IR] = {0}; //LRFB
int IR_colours[num_IR] = {0};
int IR_float_counter[num_IR] = {0};
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
if (!AFMS.begin()) { // create with the default frequency 1.6KHz
// if (!AFMS.begin(1000)) { // OR with a different frequency, say 1KHz
Serial.println("Could not find Motor Shield. Check wiring.");
while (1);
}
for(int j=0; j<2; j++) {
motors[j]->run(RELEASE);
}
for(int i=0; i< num_IR; i++) {
pinMode(IR_locns[i], INPUT);
}
}
void loop() {
// put your main code here, to run repeatedly:
for(int i=0; i < 2*floating_avg_num; i++) { //Get some values in before evaluation starts
update_IR_vals();
}
for(int j = 0; j<2; j++) {
motors[j]->run(regions[region]);
}
while (true) {
if (button_val == 0) {
update_IR_vals();
int IR_check_val = IR_check(IR_colours);
if (IR_check_val == 0) {
move_both(motors, 255);
Serial.println("FORWARD");
}
else if (IR_check_val == 1) {
move_one_motor(motors, 200, left);
Serial.println("TURN LEFT");
}
else if (IR_check_val == 2) {
move_one_motor(motors, 200, right);
Serial.println("TURN RIGHT");
}
else {
Serial.println("Else block fml");
for(int j = 0; j < 2; j++) {
motors[j]->setSpeed(0);
}
while (1);
void move_one_motor(Adafruit_DCMotor *motors[], int velocity, int side) { //May need to account for direction later
motors[(side+1)%2]->setSpeed(velocity);
motors[side]->setSpeed(0);
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}
void move_both(Adafruit_DCMotor *motors[], int velocity) {
for(int j=0; j<2; j++) {
motors[j]->setSpeed(velocity);
}
}
float floating_average(int *index, float vals[], float curAvg, float newVal, int arr_len) {
curAvg = ((curAvg * float(arr_len)) - vals[*index] + newVal)/float(arr_len);
vals[*index] = newVal;
*index = (*index + 1) % arr_len;
return curAvg;
}
int IR_check(int LRFB[]) {
if (LRFB[0] == black && LRFB[1] == black && LRFB[2] == white && LRFB[3] == white) {
return 0;
}
else if (LRFB[0] == white && LRFB[1] == black) {
return 1;
}
else if (LRFB[0] == black && LRFB[1] == white) {
return 2;
}
else {
return 3;
}
}
void update_IR_vals() {
for(int i=0; i<num_IR; i++) {
int new_val = analogRead(IR_locns[i]);
IR_avgs[i] = floating_average(&IR_float_counter[i], IR_vals[i], IR_avgs[i], new_val, floating_avg_num);