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lilypad.ino

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+// these constants describe the pins. They won't change:
+const int xpin = A1;                  // x-axis of the accelerometer
+const int ypin = A2;                  // y-axis
+const int zpin = A3;                  // z-axis (only on 3-axis models)
+//
+int sampleDelay = 500;   //number of milliseconds between readings
+void setup()
+{
+ // initialize the serial communications:
+ Serial.begin(9600);
+ //
+ //Make sure the analog-to-digital converter takes its reference voltage from
+ // the AREF pin
+ pinMode(xpin, INPUT);
+ pinMode(ypin, INPUT);
+ pinMode(zpin, INPUT);
+}
+void loop()
+{
+ int x = analogRead(xpin);
+ //
+ //add a small delay between pin readings.  I read that you should
+ //do this but haven't tested the importance
+   delay(1); 
+ //
+ int y = analogRead(ypin);
+ //
+ //add a small delay between pin readings.  I read that you should
+ //do this but haven't tested the importance
+   delay(1); 
+ //
+ int z = analogRead(zpin);
+ //
+ //zero_G is the reading we expect from the sensor when it detects
+ //no acceleration.  Subtract this value from the sensor reading to
+ //get a shifted sensor reading.
+ float zero_G =512; 
+ //
+ //scale is the number of units we expect the sensor reading to
+ //change when the acceleration along an axis changes by 1G.
+ //Divide the shifted sensor reading by scale to get acceleration in Gs.
+ float scale =102.3;
+ //
+ Serial.print(((float)x - zero_G)/scale);
+ Serial.print("\t");
+ //
+ Serial.print(((float)y - zero_G)/scale);
+ Serial.print("\t");
+ //
+ Serial.print(((float)z - zero_G)/scale);
+ Serial.print("\n");
+ //
+ // delay before next reading:
+ delay(sampleDelay);
+}

motor_move.ino

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+// Setup Motor A (front and rear) pins
+int enableA = 1;
+int pinA1 = 3;
+int pinA2 = 2;
+
+// Setup Motor B (front and rear) pins
+int enableB = 6;
+int pinB1 = 5;
+int pinB2 = 4;
+
+void setup() {
+  // The setup code goes here and runs once only
+  // Configure the pin modes for each drive motor
+   pinMode (enableA, OUTPUT);
+   pinMode (pinA1, OUTPUT);
+   pinMode (pinA2, OUTPUT);
+   pinMode (enableB, OUTPUT);
+   pinMode (pinB1, OUTPUT);
+   pinMode (pinB2, OUTPUT);
+   
+
+}
+
+void loop() {
+  // Main code goes here and will run repeatedly:
+  car(); // function keeps moving car forward while distance of objects in front are > 15cm away
+  avoid(); // function makes car go back, turn slightly right to move forward in new direction
+}
+
+
+// Create motor functions
+void motorAforward() {
+ digitalWrite (pinA1, HIGH);
+ digitalWrite (pinA2, LOW);
+}
+void motorBforward() {
+ digitalWrite (pinB1, LOW);
+ digitalWrite (pinB2, HIGH);
+}
+void motorAbackward() {
+ digitalWrite (pinA1, LOW);
+ digitalWrite (pinA2, HIGH);
+}
+void motorBbackward() {
+ digitalWrite (pinB1, HIGH);
+ digitalWrite (pinB2, LOW);
+}
+void motorAstop() {
+ digitalWrite (pinA1, HIGH);
+ digitalWrite (pinA2, HIGH);
+}
+void motorBstop() {
+ digitalWrite (pinB1, HIGH);
+ digitalWrite (pinB2, HIGH);
+}
+void motorAcoast() {
+ digitalWrite (pinA1, LOW);
+ digitalWrite (pinA2, LOW);
+}
+void motorBcoast() {
+ digitalWrite (pinB1, LOW);
+ digitalWrite (pinB2, LOW);
+}
+void motorAon() {
+ digitalWrite (enableA, HIGH);
+}
+void motorBon() {
+ digitalWrite (enableB, HIGH);
+}
+void motorAoff() {
+ digitalWrite (enableA, LOW);
+}
+void motorBoff() {
+ digitalWrite (enableB, LOW);
+}
+
+
+
+// Setup movement functions
+void forward (int duration) {
+ motorAforward();
+ motorBforward();
+ delay (duration);
+}
+void backward (int duration) {
+ motorAbackward();
+ motorBbackward();
+ delay (duration);
+}
+void right (int duration) {
+ motorAbackward();
+ motorBforward();
+ delay (duration);
+}
+void left (int duration) {
+ motorAforward();
+ motorBbackward();
+ delay (duration);
+}
+void coast (int duration) {
+ motorAcoast();
+ motorBcoast();
+ delay (duration);
+}
+void breakRobot (int duration) {
+ motorAstop();
+ motorBstop();
+ delay (duration);
+}
+void disableMotors() {
+ motorAoff();
+ motorBoff();
+}
+void enableMotors() {
+ motorAon();
+ motorBon();
+}
+
+
+
+// Setup the main car function
+void car() {
+int distance_0;
+distance_0 = distance();
+  // Keep moving forward in a straight line while distance of objects in front > 15cm away
+  while(distance_0 > 15)
+  {
+     motorAon();
+     motorBon();
+     forward(1);
+     distance_0 = distance();
+  }
+  breakRobot(0);
+}