طراحی ربات کدینگ با زبان برنامه نویسی Tangible

/*
Tangible Coding Robot
The idea:
In this project, we will show you how to make a tangible programmable robot out of Lego Technic pieces,
Arduino boards, off-the-shelf DC motors, and NRF communication modules.
The current project uses two Arduino Nano boards as the main controller of the
robot and the programming console, respectively
The circuit:
- In this circuit, an Arduino Nano is used. Any other types of Arduino
can be used of course but do not forget to change the pin configurations
if you want to change the circuit on your preference.
Visit the Tart Robotics blog for more information:
https://www.tartrobotics.com/blog
*/
#define motorRightA A0
#define motorRightB A1
#define motorRightPWM 6
#define motorLeftA A2
#define motorLeftB A3
#define motorLeftPWM 5
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>
RF24 radio(9, 10); // CE, CSN
// Setup Adafriut Neopixel LED Ring
#include <Adafruit_NeoPixel.h>
#define PIXELSPIN 4
#define NUMPIXELS 16
Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUMPIXELS, PIXELSPIN, NEO_GRB + NEO_KHZ800);
const byte address[6] = "00010";
const int motorSpeed = 80, straightTimeDelay = 600, turningTimeDelay = 560;
void setup() {
radio.begin();
radio.openReadingPipe(0, address);
radio.setPALevel(RF24_PA_MIN);
radio.startListening();
pixels.begin(); // Adafriut Neopixel begin
for (int i = 0; i < 17; i++) {
pixels.setPixelColor(i, pixels.Color(0, 0, 0));
pixels.show();
}
}
void loop() {
if (radio.available()) {
// Take and decode instructions
char instructions[50] = "";
radio.read(&instructions, sizeof(instructions));
for (int i = 0; i < sizeof(instructions); i++) {
char message = instructions[i];
stopTheRobot();
delay(200);
if (message == 'f') {
goForward();
} else if (message == 'b') {
goBackward();
} else if (message == 'r') {
goRight();
} else if (message == 'l') {
goLeft();
} else if (message == 's') {
stopTheRobot();
break;
}
}
}
}
void goForward() {
digitalWrite(motorRightA, LOW);
digitalWrite(motorRightB, HIGH);
analogWrite(motorRightPWM, motorSpeed);
digitalWrite(motorLeftA, HIGH);
digitalWrite(motorLeftB, LOW);
analogWrite(motorLeftPWM, motorSpeed);
pixels.setPixelColor(6, pixels.Color(200, 200, 190));
pixels.setPixelColor(7, pixels.Color(200, 200, 190));
pixels.setPixelColor(8, pixels.Color(200, 200, 190));
pixels.setPixelColor(9, pixels.Color(200, 200, 190));
pixels.setPixelColor(10, pixels.Color(200, 200, 190));
pixels.show();
delay(straightTimeDelay);
for (int i = 0; i < 17; i++) {
pixels.setPixelColor(i, pixels.Color(0, 0, 0));
pixels.show();
}
}
void goBackward() {
digitalWrite(motorRightA, HIGH);
digitalWrite(motorRightB, LOW);
analogWrite(motorRightPWM, motorSpeed);
digitalWrite(motorLeftA, LOW);
digitalWrite(motorLeftB, HIGH);
analogWrite(motorLeftPWM, motorSpeed);
pixels.setPixelColor(0, pixels.Color(0, 200, 0));
pixels.setPixelColor(1, pixels.Color(0, 200, 0));
pixels.setPixelColor(2, pixels.Color(0, 200, 0));
pixels.setPixelColor(14, pixels.Color(0, 200, 0));
pixels.setPixelColor(15, pixels.Color(0, 200, 0));
pixels.show();
delay(straightTimeDelay);
for (int i = 0; i < 17; i++) {
pixels.setPixelColor(i, pixels.Color(0, 0, 0));
pixels.show();
}
}
void goLeft() {
digitalWrite(motorRightA, LOW);
digitalWrite(motorRightB, HIGH);
analogWrite(motorRightPWM, motorSpeed);
digitalWrite(motorLeftA, LOW);
digitalWrite(motorLeftB, HIGH);
analogWrite(motorLeftPWM, motorSpeed);
pixels.setPixelColor(2, pixels.Color(0, 0, 210));
pixels.setPixelColor(3, pixels.Color(0, 0, 210));
pixels.setPixelColor(4, pixels.Color(0, 0, 210));
pixels.setPixelColor(5, pixels.Color(0, 0, 210));
pixels.setPixelColor(6, pixels.Color(0, 0, 210));
pixels.show();
delay(straightTimeDelay);
for (int i = 0; i < 17; i++) {
pixels.setPixelColor(i, pixels.Color(0, 0, 0));
pixels.show();
}
}
void goRight() {
digitalWrite(motorRightA, HIGH);
digitalWrite(motorRightB, LOW);
analogWrite(motorRightPWM, motorSpeed);
digitalWrite(motorLeftA, HIGH);
digitalWrite(motorLeftB, LOW);
analogWrite(motorLeftPWM, motorSpeed);
pixels.setPixelColor(10, pixels.Color(200, 0, 0));
pixels.setPixelColor(11, pixels.Color(200, 0, 0));
pixels.setPixelColor(12, pixels.Color(200, 0, 0));
pixels.setPixelColor(13, pixels.Color(200, 0, 0));
pixels.setPixelColor(14, pixels.Color(200, 0, 0));
pixels.show();
delay(straightTimeDelay);
for (int i = 0; i < 17; i++) {
pixels.setPixelColor(i, pixels.Color(0, 0, 0));
pixels.show();
}
}
void stopTheRobot() {
digitalWrite(motorRightA, HIGH);
digitalWrite(motorRightB, HIGH);
analogWrite(motorRightPWM, 0);
digitalWrite(motorLeftA, HIGH);
digitalWrite(motorLeftB, HIGH);
analogWrite(motorLeftPWM, 0);
}

/*
Tangible Coding Console
The idea:
In this project, we will show you how to make a tangible programmable robot out of Lego Technic pieces,
Arduino boards, off-the-shelf DC motors, and NRF communication modules.
The current project uses two Arduino Nano boards as the main controller of the
robot and the programming console, respectively
The circuit:
- In this circuit, an Arduino Nano is used. Any other types of Arduino
can be used of course but do not forget to change the pin configurations
if you want to change the circuit on your preference.
Visit the Tart Robotics blog for more information:
https://www.tartrobotics.com/blog
*/
#define forward_button 8
#define backward_button 4
#define right_button 7
#define left_button 5
#define startstop_button 6
#define buzzerPin A0
#define auxGnd A2 //auxiliary ground pin
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
RF24 radio(9, 10); // CE, CSN
const byte address[6] = "00010";
void setup() {
radio.begin();
radio.openWritingPipe(address);
radio.setPALevel(RF24_PA_MIN);
radio.stopListening();
pinMode(auxGnd, OUTPUT);
pinMode(buzzerPin, OUTPUT);
digitalWrite(auxGnd, LOW);
}
void loop() {
//Take the instructions (50 instructions in a row maximum)
char instructions[50];
for (int i = 0; i < sizeof(instructions); i++)
instructions[i] = NULL;
boolean runTheProgram = false;
int i = 0;
while (i < sizeof(instructions)) {
buzz(100);
while (true) {
if (!digitalRead(forward_button)) {
while (!digitalRead(forward_button));
instructions[i] = 'f';
break;
} else if (!digitalRead(backward_button)) {
while (!digitalRead(backward_button));
instructions[i] = 'b';
break;
} else if (!digitalRead(left_button)) {
while (!digitalRead(left_button));
instructions[i] = 'r';
break;
} else if (!digitalRead(right_button)) {
while (!digitalRead(right_button));
instructions[i] = 'l';
break;
} else if (!digitalRead(startstop_button)) {
while (!digitalRead(startstop_button));
runTheProgram = true;
break;
}
}
i++;
if (runTheProgram)
break;
}
instructions[i] = 's';
buzz(800);
radio.write(&instructions, sizeof(instructions));
}
void buzz(int duration) {
digitalWrite(buzzerPin, HIGH);
delay(duration);
digitalWrite(buzzerPin, LOW);
}