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Dviros/otto_avoid.ino

Created April 1, 2023 10:08
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  1. Dviros created this gist Apr 1, 2023.
    77 changes: 77 additions & 0 deletions otto_avoid.ino
    View file
    Original file line number Diff line number Diff line change
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    #include <Otto.h>
    #include <Servo.h>
    #include <EEPROM.h>
    Otto Otto;

    #define LeftLeg 2 // left leg pin
    #define RightLeg 3 // right leg pin
    #define LeftFoot 4 // left foot pin
    #define RightFoot 5 // right foot pin
    #define Buzzer 13 //buzzer pin
    #define Trigger 10 // ultrasonic sensor trigger pin
    #define Echo 11 // ultrasonic sensor echo pin

    long duration;
    int distance;

    long ultrasound() {
    long duration, distance;
    //digitalWrite(Trigger,LOW);
    //delayMicroseconds(2000);
    //digitalWrite(Trigger, HIGH);
    //delayMicroseconds(100);
    //digitalWrite(Trigger, LOW);
    //duration = pulseIn(Echo, HIGH);
    //distance = duration/58;
    //return distance;
    // Clears the trigPin
    digitalWrite(Trigger, LOW);
    delayMicroseconds(2);
    // Sets the trigPin on HIGH state for 10 micro seconds
    digitalWrite(Trigger, HIGH);
    delayMicroseconds(10);
    digitalWrite(Trigger, LOW);
    // Reads the echoPin, returns the sound wave travel time in microseconds
    duration = pulseIn(Echo, HIGH);
    // Calculating the distance
    distance = duration * 0.034 / 2;
    // Prints the distance on the Serial Monitor
    Serial.print("Distance: ");
    Serial.println(distance);
    return distance;
    }

    void setup() {
    Serial.begin(250000);
    Otto.init(LeftLeg, RightLeg, LeftFoot, RightFoot, true, Buzzer);
    pinMode(Trigger, OUTPUT);
    pinMode(Echo, INPUT);
    Otto.home();
    //delay(100);
    //Otto.sing(S_OhOoh);
    }
    void loop(){
    Serial.println("Ultra:");
    Serial.println(ultrasound());

    int sample;
    sample = 0;
    sample = ultrasound();
    delay(40);
    sample += ultrasound();
    delay(40);
    sample += ultrasound();
    delay(40);
    sample += ultrasound();

    Serial.println(sample);

    if (((sample)/4) < 8) {
    Otto.sing(S_fart1);
    Otto.walk(2,800,-1); // BACKWARD x2
    Otto.turn(3,1000,-1); // LEFT x3
    }

    Otto.walk(4, 1000, 1);
    //delay(400);
    }