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Mapping/Arduino/Motorz.h

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+#ifndef _MOTORZ_H  // not #ifnotdef
+#define _MOTORZ_H
+
+class Motorz
+{
+  private:
+  int motor_speed=0;
+  int enable,in1,in2,dir;
+  public:
+
+    Motorz(int Enb,int ina,int inb){
+      enable=Enb;
+      in1=ina;
+      in2=inb;
+      pinMode(enable,OUTPUT);
+      pinMode(in1,OUTPUT);
+      pinMode(in2,OUTPUT);
+    }  
+    Motorz(int Enb,int ina,int inb,int d){
+      enable=Enb;
+      in1=ina;
+      in2=inb;
+      dir=d;
+      pinMode(enable,OUTPUT);
+      pinMode(in1,OUTPUT);
+      pinMode(in2,OUTPUT);
+      Direction();
+    }
+    void SetSpeed(int Mspeed){
+      motor_speed=Mspeed;
+    }
+    int GetSpeed(){
+      return motor_speed;
+    }
+    void SetEnable(int pin){
+      enable=pin;
+    }
+    int GetEnable(){
+      return enable;
+    }
+    void SetInput1(int pin){
+      in1=pin;
+    }
+    int GetInput1(){
+      return in1;
+    }
+    void SetInput2(int pin){
+      in2=pin;
+    }
+    int GetInput2(){
+      return in2;
+    }
+    void SetDirection(int a){
+      dir=a;
+    }
+    int GetDirection(){
+      return dir;
+    }
+    void ChangeDir(){
+      if(dir==0){
+         dir=1;
+      }
+      else{
+         dir=0;
+      }
+    }
+    void Start(){
+      this->Direction();
+      analogWrite(enable,motor_speed);
+      }
+    void Stop(){
+         this->Halt();
+      }
+   private:
+    void Direction(){
+      if(dir==0){
+        digitalWrite(in1,HIGH);
+        digitalWrite(in2,LOW);
+      }
+      else{
+        digitalWrite(in1,LOW);
+        digitalWrite(in2,HIGH);
+      }
+    }
+    void Halt(){
+       digitalWrite(in1,LOW);
+       digitalWrite(in2,LOW);
+    }
+    
+};
+#endif _MOTOR_H

Mapping/Arduino/motor_arduino_garbage

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+
+//very crude libraries with objects for motor and tandrive system (2 motors no steering)
+//tandrive is an object that you attach the motor objects you make bellow made some functions
+//in hope it will be more easier to read etc.
+
+#include "Motorz.h";
+#include "tankdrive.h";
+#include <NewPing.h>
+#include <Servo.h>
+
+#define SONAR_PIN 10
+#define SERVO_PIN 9
+#define MAX_DISTANCE 200 //max sonar dinstance according to the type of sensor i use Hc-SR04
+
+NewPing sonar(SONAR_PIN,SONAR_PIN, MAX_DISTANCE);
+Servo myservo;
+
+
+
+int GetDistances();
+
+int i;
+int enr=5; // enable pin for motor r (must be pwm)
+int in1=4; // pin for one of the two connections of the mottor
+int in2=3;// other connection (these two are digital pins)
+// depends on how you end up wiring and placing the motors it will spin a certain way
+// and another way when you reverse the voltage , direct holds (0,1) depending on how you
+// wired the motor to go "forwards" what ever that means for your project
+int directr=0;
+int enl=6;
+int in3=7;
+int in4=8;
+int directl=0;
+
+char buffer1[(sizeof(char)+sizeof(unsigned long))*sizeof(char)+1];
+
+  char a;
+  unsigned long runforsmth;
+Motorz motorR(enr,in1,in2,directr);
+Motorz motorL(enl,in3,in4,directl);
+
+TankDrive mytank(&motorR,directr,&motorL,directl);
+
+void setup(){
+  Serial.begin(9600);
+  motorR.SetSpeed(80);  //im using diffrent motors (trying to simulate wheels so i figure things out )
+  motorL.SetSpeed(80);	// so that explains the diffrent speed in each motor
+   pinMode(LED_BUILTIN, OUTPUT);
+}
+
+
+void loop(){
+
+  digitalWrite(LED_BUILTIN,LOW);
+
+
+
+
+
+    /*
+     *
+     *
+     *
+     * if(a=='1'){
+        digitalWrite(LED_BUILTIN, HIGH);
+        // turn the LED on (HIGH is the voltage level)
+      }
+     else if(a=='0')
+          digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
+
+     *
+     *
+     *
+     *
+     *
+     *
+     *
+     *
+     *
+   mytank.TurnRight();
+   delay(10000);
+   mytank.TurnLeft();
+   delay(10000);
+   mytank.MoveForward();
+   delay(10000);
+
+
+
+
+motorR.Start();
+Serial.println(motorR.GetDirection());
+delay(1000);
+motorR.ChangeDir();
+Serial.print("Changing Dir: ");
+Serial.println(motorR.GetDirection());
+
+Serial.print("F:");
+Serial.print(mytank.getFDirR());
+Serial.print(" B:");
+Serial.print(mytank.getBDirR());
+Serial.print(" ");
+Serial.print("F:");
+Serial.print(mytank.getFDirL());
+Serial.print(" B:");
+Serial.println(mytank.getBDirL());
+mytank.MoveForward();
+delay(5000);
+mytank.MoveBack();
+delay(5000);
+
+ * delay(1000);
+mytank.TurnLeft();
+delay(5000);
+mytank.TurnRight();
+delay(5000);
+mytank.MoveForward();
+delay(5000);
+
+
+Serial.println("Getting distances...");
+i=GetDistances();
+Serial.println("Done");
+  if(i==-1)
+  {
+    Serial.println("Turning Left...");
+    run_for_millis(&mytank,'L',200);
+  }
+  else if(i==0)
+  {
+     Serial.println("Going Forward...");
+     run_for_millis(&mytank,'M',200);
+  }
+  else{
+      Serial.println("Turning Right...");
+     run_for_millis(&mytank,'R',200);
+    } */
+}
+void serialEvent() {
+  while (Serial.available()) {
+        Serial.readBytes(buffer1,sizeof(buffer1));
+        sscanf( buffer1, "%c%lu",&a, &runforsmth);
+        run_for_millis(&mytank,a,runforsmth);
+       /*if(a=='L'){
+              digitalWrite(LED_BUILTIN, HIGH);
+              delay(runforsmth);
+        }*/
+    }
+}
+int GetDistances(){
+  int pos;
+  int maxdist[2];
+  int temp;
+  myservo.attach(SERVO_PIN);
+  maxdist[0]=-1;
+
+  for (pos = 20; pos <= 160; pos += 1) { // goes from 0 degrees to 180 degrees
+    // in steps of 1 degree
+    myservo.write(pos);
+    temp=sonar.ping_cm();
+    Serial.print("Distance:");
+    Serial.print(temp);
+    Serial.print(" Angle:");
+    Serial.println(pos);
+
+    if(temp>maxdist[0]){
+        maxdist[0]=temp;
+        maxdist[1]=pos;
+      }
+    delay(55);
+  }
+   for (pos = 160; pos >=20; pos -= 1) { // goes from 0 degrees to 180 degrees
+    myservo.write(pos);
+    delay(5);
+  }
+  myservo.detach();
+
+  if(maxdist[1]<70){
+         return -1;
+    }
+
+  else if(maxdist[1]>110){
+          return 1;
+    }
+
+  else return 0;
+
+}
+void run_for_millis(TankDrive *tank,char ch,unsigned long timetorun){
+
+  unsigned long count;
+  switch(ch){
+      case 'L':
+              count=millis();
+              do{
+                tank->TurnLeft();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+
+      case 'F':
+              count=millis();
+              do{
+                tank->MoveForward();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+      case 'R':
+              count=millis();
+              do{
+                 tank->TurnRight();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+    }
+
+
+
+}

Mapping/Arduino/motortest_first.ino

@@ -0,0 +1,136 @@
+
+//very crude libraries with objects for motor and tandrive system (2 motors no steering)
+//tandrive is an object that you attach the motor objects you make bellow made some functions 
+//in hope it will be more easier to read etc.
+
+#include "Motorz.h";
+#include "tankdrive.h";
+#include <NewPing.h>
+#include <Servo.h>
+
+#define SONAR_PIN 10
+#define SERVO_PIN 9
+#define MAX_DISTANCE 200 //max sonar dinstance according to the type of sensor i use Hc-SR04
+
+NewPing sonar(SONAR_PIN,SONAR_PIN, MAX_DISTANCE);
+Servo myservo;
+
+
+
+int GetDistances();
+
+int i;
+int enr=5; // enable pin for motor r (must be pwm)
+int in1=4; // pin for one of the two connections of the mottor 
+int in2=3;// other connection (these two are digital pins)
+// depends on how you end up wiring and placing the motors it will spin a certain way 
+// and another way when you reverse the voltage , direct holds (0,1) depending on how you 
+// wired the motor to go "forwards" what ever that means for your project
+int directr=0; 
+int enl=6;
+int in3=7;
+int in4=8;
+int directl=0;
+
+char buffer1[(sizeof(char)+sizeof(unsigned long))*sizeof(char)+1];
+
+  char a;
+  unsigned long runforsmth;
+Motorz motorR(enr,in1,in2,directr);
+Motorz motorL(enl,in3,in4,directl);
+  
+TankDrive mytank(&motorR,directr,&motorL,directl);
+
+void setup(){
+  Serial.begin(9600);
+  motorR.SetSpeed(80);  //im using diffrent motors (trying to simulate wheels so i figure things out ) 
+  motorL.SetSpeed(80);	// so that explains the diffrent speed in each motor
+   pinMode(LED_BUILTIN, OUTPUT);
+}
+
+
+void loop(){    
+
+  digitalWrite(LED_BUILTIN,LOW); 
+}
+void serialEvent() {
+  while (Serial.available()) {
+        Serial.readBytes(buffer1,sizeof(buffer1));
+        sscanf( buffer1, "%c%lu",&a, &runforsmth);
+        run_for_millis(&mytank,a,runforsmth);
+       /*if(a=='L'){
+              digitalWrite(LED_BUILTIN, HIGH); 
+              delay(runforsmth);
+        }*/
+    }
+}
+int GetDistances(){
+  int pos;
+  int maxdist[2];
+  int temp;
+  myservo.attach(SERVO_PIN);
+  maxdist[0]=-1;
+
+  for (pos = 20; pos <= 160; pos += 1) { // goes from 0 degrees to 180 degrees
+    // in steps of 1 degree
+    myservo.write(pos);    
+    temp=sonar.ping_cm();
+    Serial.print("Distance:");
+    Serial.print(temp);
+    Serial.print(" Angle:");
+    Serial.println(pos);
+    
+    if(temp>maxdist[0]){
+        maxdist[0]=temp;
+        maxdist[1]=pos;
+      }
+    delay(55);                       
+  }
+   for (pos = 160; pos >=20; pos -= 1) { // goes from 0 degrees to 180 degrees
+    myservo.write(pos);
+    delay(5);                
+  }
+  myservo.detach();
+
+  if(maxdist[1]<70){
+         return -1;
+    }
+ 
+  else if(maxdist[1]>110){
+          return 1;
+    }
+
+  else return 0;
+  
+}
+void run_for_millis(TankDrive *tank,char ch,unsigned long timetorun){
+
+  unsigned long count;
+  switch(ch){
+      case 'L':
+              count=millis();
+              do{
+                tank->TurnLeft();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+    
+      case 'F':
+              count=millis();
+              do{
+                tank->MoveForward();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+      case 'R':
+              count=millis();
+              do{
+                 tank->TurnRight();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+    }
+
+ 
+
+}  

Mapping/Arduino/tankdrive.h

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+#ifndef _TANKDRIVE_H  // not #ifnotdef
+#define _TANKDRIVE_H
+
+#include "Motorz.h"
+
+class TankDrive
+{
+  Motorz *motorL;
+  Motorz *motorR;
+  int forwardR,forwardL,backR,backL;
+  public:
+  TankDrive(Motorz *MR,int fr,Motorz *ML,int fl){
+    motorL=ML;
+    motorR=MR;
+    forwardR=fr;
+    forwardL=fl;
+    if(fr==1)backR=0;
+    else backR=1;
+    if(fl==1)backL=0;
+    else backL=1;
+  }
+  void MoveForward(){
+    motorR->SetDirection(forwardR);
+    motorL->SetDirection(forwardL);
+    motorR->Start();
+    motorL->Start();
+  }
+    void MoveBack(){
+    motorR->SetDirection(backR);
+    motorL->SetDirection(backL);
+    motorR->Start();
+    motorL->Start();
+  }
+  void Stop(){
+
+    motorR->Stop();
+    motorL->Stop();
+  }
+  void TurnRight(){
+    motorR->SetDirection(backR);
+    motorL->SetDirection(forwardL);
+    motorR->Start();
+    motorL->Start();
+  }
+   void TurnLeft(){
+    motorR->SetDirection(forwardR);
+    motorL->SetDirection(backL);
+    motorL->Start();
+    motorR->Start();
+  }
+  int getFDirR(){
+     return forwardR; 
+    }
+ int getFDirL(){
+     return forwardL; 
+    }
+ int getBDirR(){
+     return backR;
+    }
+ int getBDirL(){
+     return backL; 
+    }
+};
+
+
+#endif _TANKDRIVE_H