RMOAR - On construction

By flokos
@ June 4, 2010

• Actuators / output devices: 2 x Parallax (Futaba) Continuous Rotation Servo and one standard 180 degrees servo.
• Control method: autonomously controlled by onboard microcontroller and digital wireless connection from Windows System with xbee modules(900mhz)
• CPU: It uses an atmega 328 on an arduino duemilanove.
• Operating system: windows XP
• Power source: 7.2 volt 1800 mAh Ni-cd
• Programming language: Wiring(some kind of c and c++ for microcontrollers)
• Sensors / input devices: It uses 2 x Sharp GP2Y0A02YK0F and one ColorPal from Parallax .
• Target environment: indoor flat surfaces

Hello to everyone this is my first robot here in LMR but i haven't finished it yet .

I call RMOAR because its letter is one of its functions it means : Remote Monitored Obstacle Avoidance Robot

Its basic function was to avoid every obstacle in his way  but then i decided to remake in order to follow objects with a certain

color and in his way to the object he will also avoid any obstacle.

And i have some photos of it in its current state and some from the first states of it.

I wrote some code but i dont think that its goin to work and i need some help in order to improve it.

(UPDATE: 21/2/11)Here is the new code I made:

#include <Servo.h>

Servo servo1;
Servo servo2;
Servo servo3;
int V1,V2,D1,D2;
int sensorPin1 = 5;
int sensorPin2 = 4;
int servoL = 9;
int servoR = 10;
int servoScn = 11;
int ledPin = 13;    
int sensorValue1 = 0; 
int sensorValue2 = 0;
void setup() {
  pinMode(ledPin, OUTPUT);
  pinMode(sensorPin1,INPUT);
  pinMode(sensorPin2,INPUT);
  pinMode(servoL,OUTPUT);
  pinMode(servoR,OUTPUT);
  pinMode(servoScn,OUTPUT);
  servo1.attach(servoL);
  servo2.attach(servoR);
  servo3.attach(servoScn);
  Serial.begin(9600);
 
}

void loop() {
  Schfobj();
  while(Schfobj() == 0){
    moveForward(100);
    if(Schfobj() != 0){
      continue;
    }
  }
  if(Schfobj() == 1){
     moveRight(170,2500);
  }
  if(Schfobj() == 2){
     moveLeft(170,2500);
  }
  if(Schfobj() == 3){
   moveBackward(170,2500);
  }
  

}

int Schfobj() {
   for(int i = 0; i < 180; i = i + 1){
      V1 = analogRead(sensorPin1);   
      V2 = analogRead(sensorPin2);   
      D1 = (6787 / (V1 - 3)) - 4;
      D2 = (6787 / (V2 - 3)) - 4;
      servo3.write(i);
      delay(50);
      Serial.print("Distance 1 : " + D1);
      Serial.println(" Distance 2 : " + D2);
      if(i <= 90 && (D1 < 15 || D2 < 15)){
         return 1;
      }
      else if(i >= 180 && (D1 < 15 || D2 < 15)){
         return 2;
      }
      else if( i == 90 && (D1  < 15 || D2 < 15)){
         return 3;
      }
      else {
         return 0;
      }
   }
}
void moveLeft(int Speed , int Delay){
      servo1.write(Speed - 91);
      delay(Delay);
      servo2.write(Speed);
      delay(Delay);
}
void moveRight(int Speed,int Delay){
      servo1.write(Speed);
      delay(Delay);
      servo2.write(Speed - 91);
      delay(Delay);
}
void moveForwardd(int Speed,int Delay){
      servo1.write(Speed);
      delay(Delay);
      servo2.write(Speed);
      delay(Delay);
}
void moveBackward(int Speed,int Delay){
      servo1.write(Speed - 91);
      delay(Delay);
      servo2.write(Speed - 91);
      delay(Delay);
}
void moveForward(int Speed){
      servo1.write(Speed);
      servo2.write(Speed);
     
}

It passes the Compile but if anyone can test it for logical mistakes it could be helpfull.