SwitchesConfiguration.h

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#include "DifferentialDrive.h"
#include "Roboid.h"
 
// This type of BB2B robot uses switches at the front to control the motors.
// Different kinds of switches can be used:
// * Microswitches
// * IR distance sensor
//
// As long as they can use used to drive a digital input.
 
// Hardware setup
// ==============
// In the configuration we first configure which hardware devices we use and how
// they are connected to the board: The default setup uses a DRV8833 motor
// driver:
#include "DRV8833.h"
DRV8833 drv8833 = DRV8833(9,   // pinAIn1
                          10,  // pinAIn2
                          6,   // pinBIn1
                          5    // pinBIn2
);
// The `AIn` and `BIn` pins are connected to pin 14/12 and 13/15 respectively.
// We do not drive the standby pin, so this needs to be pulled `high` to make
// sure the motor driver is enabled.
 
// Then we define the two swiches we use as input:
#include <Switch.h>
Switch sensorLeft = Switch(12  // pinInput
);
Switch sensorRight = Switch(2  // pinInput
);
// The left sensor is attached to pin 12 of the microcontroller and the right
// sensor to pin 2.
 
// Robooid
// =======
 
Roboid* RoboidSetup() {
  Placement sensors[] = {Placement(&sensorLeft, -30),
                         Placement(&sensorRight, 30)};
  Perception* perception = new Perception(sensors);
  // The sensor on the left is directed to the ... left and the right
  // sensor is directed to the right.
 
  Propulsion* propulsion = (Propulsion*)new DifferentialDrive(
      Placement(&drv8833.motorA, Vector3::left),
      Placement(&drv8833.motorB, Vector3::right));
  // The motor connected to the `A` port of the motor controller is found on
  // the right side of the robot, while the motor on the left side of the
  // robot is connected to the `B` port of the motor controller.
 
  Roboid* roboid = new Roboid(perception, propulsion);
  return roboid;
}
 
void UpdateRoboid(Roboid* roboid) {
  // each motor rotates forward with max speed (value: 1),
  // unless an object is detected nearby.
  // The left motor is controlled by the sensor on the right
  // and vice versa
  bool obstacleLeft = roboid->perception->SwitchOn(-45, 0);
  bool obstacleRight = roboid->perception->SwitchOn(0, 45);
 
  float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
  float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
 
  DifferentialDrive* diffDrive = (DifferentialDrive*)&roboid->propulsion;
  diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
}