UltraSonicConfiguration.h

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#include "Roboid.h"
 
// Hardware
// ========
 
#include "UltrasonicSensor.h"
// PINS NEED CHANGING!!!!
UltrasonicSensor sensorLeft = UltrasonicSensor(23,  // pinTrigger
                                               5    // pinEcho
);
UltrasonicSensor sensorRight = UltrasonicSensor(18,  // pinTrigger
                                                19   // pinEcho
);
 
#include "DRV8833.h"
DRV8833 drv8833 = DRV8833(9,   // pinAIn1
                          10,  // pinAIn2
                          6,   // pinBIn1
                          5    // pinBIn2
);
 
// Roboid
// ======
 
Roboid* RoboidSetup() {
  Placement configuration[] = {
      // Sensors
      Placement(&sensorLeft, -1),
      Placement(&sensorRight, 1),
      // Motors
      Placement(&drv8833.motorA, Vector3::left),
      Placement(&drv8833.motorB, Vector3::right),
  };
 
  Roboid* roboid = new Roboid(configuration, 4);
  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);
}