http://www.instructables.

com/id/Arduino-Robot-V2-Fast/step10/Code/

Code
#include
Servo servoMain;
float temp;
int tempPin = 0;
int r_motor_n = 2; //PWM control Right Motor -
int r_motor_p = 4; //PWM control Right Motor +
int l_motor_p = 5; //PWM control Left Motor +
int l_motor_n = 7; //PWM control Left Motor -
int enable = 3;
int light = 9;
int enable2 = 6; //PWM CONTROL SPEED
int speed1 = 0; // PWM controll speed
int incomingByte = 0; // for incoming serial data
#include
#define TRIGGER_PIN 12 // Arduino pin tied to trigger pin on the ultrasonic
sensor.
#define ECHO_PIN 11 // Arduino pin tied to echo pin on the ultrasonic sensor.
#define MAX_DISTANCE 200 // Maximum distance we want to ping for (in
centimeters). Maximum sensor distance is rated at 400-500cm.
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing
setup of pins and maximum distance.
void setup()
{
servoMain.attach(10);
pinMode(r_motor_n, OUTPUT); //Set control pins to be outputs
pinMode(r_motor_p, OUTPUT);
pinMode(l_motor_p, OUTPUT);
pinMode(l_motor_n, OUTPUT);
pinMode(enable, OUTPUT);
pinMode(enable2, OUTPUT);
pinMode(light, OUTPUT);
digitalWrite(r_motor_n, LOW); //set both motors off for start-up
digitalWrite(r_motor_p, LOW);
digitalWrite(l_motor_p, LOW);
digitalWrite(l_motor_n, LOW);
digitalWrite(enable, LOW);
digitalWrite(enable2, LOW);
digitalWrite(light, HIGH);
Serial.begin(9600);
Serial.print("Whats up im ATOM, geared up!!!! \n");
Serial.print("w = Forward \n");
Serial.print("s = Backward \n");
Serial.print("d = Right \n");
Serial.print("a = Left \n");
Serial.print("f = Stop \n");
Serial.print("lame freaks robotics");
}
void loop()
{
if (Serial.available() > 0) {
// read the incoming byte:
incomingByte = Serial.read();
}
switch(incomingByte)
{
case 'S': // control to stop the robot
digitalWrite(r_motor_n, LOW); //Set motor direction, 1 low, 2 low
digitalWrite(r_motor_p, LOW);
digitalWrite(l_motor_p, LOW);
digitalWrite(l_motor_n, LOW);
analogWrite(enable, 0);
analogWrite(enable2, 0);
Serial.println("Stop\n");
incomingByte='*';
break;
case 'R': //control for right
digitalWrite(r_motor_n, HIGH); //Set motor direction, 1 high, 2 low
digitalWrite(r_motor_p, LOW);
digitalWrite(l_motor_p, HIGH);
digitalWrite(l_motor_n, LOW);
analogWrite(enable, speed1);
analogWrite(enable2, speed1);
Serial.println("right\n");
incomingByte='*';
break;
case 'L': //control for left
digitalWrite(r_motor_n, LOW); //Set motor direction, 1 low, 2 high
digitalWrite(r_motor_p, HIGH);
digitalWrite(l_motor_p, LOW);
digitalWrite(l_motor_n, HIGH);
analogWrite(enable, speed1);
analogWrite(enable2, speed1);
Serial.println("left\n");
incomingByte='*';
break;
case 'F': //control for forward
digitalWrite(r_motor_n, HIGH); //Set motor direction, 1 high, 2 high
digitalWrite(r_motor_p, LOW);
digitalWrite(l_motor_p, LOW);
digitalWrite(l_motor_n, HIGH);
analogWrite(enable, speed1);
analogWrite(enable2, speed1);
Serial.println("forward\n");
incomingByte='*';
break;
case 'B': //control for backward
digitalWrite(r_motor_n, LOW); //Set motor direction, 1 low, 2 low
digitalWrite(r_motor_p, HIGH);
digitalWrite(l_motor_p, HIGH);
digitalWrite(l_motor_n, LOW);
analogWrite(enable, speed1);
analogWrite(enable2, speed1);
Serial.println("backwards\n");
incomingByte='*';
break;
case 'f':
digitalWrite(r_motor_n, LOW); //Set motor direction, 1 low, 2 low
digitalWrite(r_motor_p, LOW);
digitalWrite(l_motor_p, LOW);
digitalWrite(l_motor_n, LOW);
analogWrite(enable, 0);
analogWrite(enable2, 0);
Serial.println("Stop\n");
incomingByte='*';
break;
case 'd':
digitalWrite(r_motor_n, HIGH); //Set motor direction, 1 high, 2 low
digitalWrite(r_motor_p, LOW);
digitalWrite(l_motor_p, HIGH);
digitalWrite(l_motor_n, LOW);
analogWrite(enable, speed1);
analogWrite(enable2, speed1);
Serial.println("right\n");
incomingByte='*';
break;
case 'a':
digitalWrite(r_motor_n, LOW); //Set motor direction, 1 low, 2 high
digitalWrite(r_motor_p, HIGH);
digitalWrite(l_motor_p, LOW);
digitalWrite(l_motor_n, HIGH);
analogWrite(enable, speed1);
analogWrite(enable2, speed1);
Serial.println("left\n");
incomingByte='*';
break;
case 'w':
digitalWrite(r_motor_n, HIGH); //Set motor direction, 1 high, 2 high
digitalWrite(r_motor_p, LOW);
digitalWrite(l_motor_p, LOW);
digitalWrite(l_motor_n, HIGH);
analogWrite(enable, speed1);
analogWrite(enable2, speed1);
Serial.println("forward\n");
incomingByte='*';
break;
case 's':
digitalWrite(r_motor_n, LOW); //Set motor direction, 1 low, 2 low
digitalWrite(r_motor_p, HIGH);
digitalWrite(l_motor_p, HIGH);
digitalWrite(l_motor_n, LOW);
analogWrite(enable, speed1);
analogWrite(enable2, speed1);
Serial.println("backwards\n");
incomingByte='*';
break;
case 'r': // servo angles
servoMain.write(0);
break;
case 't':
servoMain.write(45);
break;
case 'y':
servoMain.write(90);
break;
case 'u':
servoMain.write(135);
break;
case 'i':
servoMain.write(180);
break;
case 'O': // PWM speed values
speed1 = 0 ;
break;
case '1':
speed1 = 155;
break;
case '2':
speed1 = 165;
break;
case '3':
speed1 = 175;
break;
case '4':
speed1 = 185;
break;
case '5':
speed1 = 195;
break;
case '6':
speed1 = 205;
break;
case '7':
speed1 = 215;
break;
case '8':
speed1 = 225;
break;
case '9':
speed1 = 235;
break;
case 'q':
speed1 = 255;
break;
case 'm':
temp = analogRead(tempPin); // Read the temperature
temp = temp * 0.48828125;
Serial.print("TEMPRATURE = ");
Serial.print(temp);
Serial.print("*C");
Serial.println();
delay(1000);
break;
case 'p': // time to ping thr ultasonic sensor
delay(50); // Wait 50ms between pings (about 20 pings/sec). 29ms should be the
shortest delay between pings.
unsigned int uS = sonar.ping(); // Send ping, get ping time in microseconds (uS).
Serial.print("Ping: ");
Serial.print(uS / US_ROUNDTRIP_CM); // Convert ping time to distance in cm
and print result (0 = outside set distance range)
Serial.println("cm");
break;
delay(5000);
}
}
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