code for the Barmaid

Author: jdawgaz

BarMan.ino

@@ -0,0 +1,94 @@
+#include <SoftwareSerial.h>
+#include <Shieldbot.h>
+
+Shieldbot shieldbot = Shieldbot();
+int polls[5];
+int line;
+int deliver=1;
+boolean stopped=0;
+byte postion=0;
+byte lastDir=0;
+void setup(){
+  Serial.begin(19200);
+  pinMode(13, OUTPUT);
+  digitalWrite(13,1);
+}
+
+void loop(){
+  if(onLine()){
+    if(onSquare()){
+      shieldbot.drive(0,0);
+      delay(1000);
+      shieldbot.drive(100,100);
+      postion+=1;
+      postion=postion%5;
+      if(postion==deliver){
+        digitalWrite(13,0);
+        shieldbot.drive(40,40);
+        delay(500);
+        digitalWrite(13,1);
+      }
+    }else if(!polls[2]){
+      shieldbot.forward();
+    }else if(!polls[1]){
+      shieldbot.drive(80,0);
+      lastDir=0;
+    }else if(!polls[3]){
+      shieldbot.drive(0,80);
+      lastDir=1;
+    }else if(!polls[0]){
+      shieldbot.drive(50,0);
+      lastDir=0;
+    }else if(!polls[4]){
+      shieldbot.drive(0,50);
+      lastDir=1;
+    }
+    
+    for(int i=0;i<5;i++){
+      Serial.print(polls[i]);
+      Serial.print(',');
+    }
+    Serial.print(onLine());
+    Serial.println(';');
+  }
+  //If not on line, reverse towards last know direction
+  if(lastDir==0){
+    shieldbot.drive(0,-32);
+  }
+  else{shieldbot.drive(-32,0);}
+}
+
+boolean onLine(){
+  pollSensors();
+  if(!polls[0]||!polls[1]||!polls[2]||!polls[3]||!polls[4]){
+    return true;
+  }
+  else{return false;}
+}
+
+boolean onSquare(){
+  pollSensors();
+  if(!polls[0]&&!polls[1]&&!polls[2]&&!polls[3]&&!polls[4]){
+    return true;
+  }
+  else{return false;}
+}
+
+void pollSensors(){
+  polls[0]=shieldbot.readS1();
+  polls[1]=shieldbot.readS2();
+  polls[2]=shieldbot.readS3();
+  polls[3]=shieldbot.readS4();
+  polls[4]=shieldbot.readS5();
+}
+
+/*
+int lineRead(int sensor){
+  readings[0]=analogRead(sensor);
+  digitalWrite(sensor, 1);
+  readings[1]=analogRead(sensor);
+  digitalWrite(sensor,0);
+  readings[2]=analogRead(sensor);
+  return(readings[1]-(readings[0]+readings[2])/2);
+}
+*/