From 4971e86d05c714ff3630ada8851938614128b412 Mon Sep 17 00:00:00 2001
From: Abel Tim <abel@main.home>
Date: Sat, 22 Jun 2024 09:17:50 +0200
Subject: update repo structure update poster add code flowchart

---
 sketch_apr18a.ino | 424 ------------------------------------------------------
 1 file changed, 424 deletions(-)
 delete mode 100644 sketch_apr18a.ino

(limited to 'sketch_apr18a.ino')

diff --git a/sketch_apr18a.ino b/sketch_apr18a.ino
deleted file mode 100644
index c3f6730..0000000
--- a/sketch_apr18a.ino
+++ /dev/null
@@ -1,424 +0,0 @@
-/**
-MIT License
-
-Copyright (c) 2022 Abel Tim
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
- *
- */
-
- // Code for rbc soccer robot
- //librarys
-#include "Wire.h"                 //https://www.arduino.cc/reference/en/language/functions/communication/wire/
-#include "Adafruit_TCS34725.h"    //https://github.com/adafruit/Adafruit_TCS34725
-
-#define PCAADDR 0x70              //i2c addres for i2c multiplexer https://learn.adafruit.com/adafruit-tca9548a-1-to-8-i2c-multiplexer-breakout/arduino-wiring-and-test
-
-Adafruit_TCS34725 tcs = Adafruit_TCS34725();
-
-//IR sensors and multiplexer
-int sens1 = 24;
-int sens2 = 25;
-int sens3 = 26;
-int sens4 = 27;
-int sens5 = 28;
-int sens6 = 29;
-
-//color sensors vars
-int r1 = 1;
-int g1 = 1;
-int b1 = 1;
-int r2 = 1;
-int g2 = 1;
-int b2 = 1;
-int r3 = 1;
-int g3 = 1;
-int b3 = 1;
-int r4 = 1;
-int g4 = 1;
-int b4 = 1;
-int r5 = 1;
-int g5 = 1;
-int b5 = 1;
-int r6 = 1;
-int g6 = 1;
-int b6 = 1;
-
-//Motors
-// motor one
-int enA = 2;
-int in1 = 3;
-int in2 = 4;
-// motor two
-int enB = 7;
-int in3 = 5;
-int in4 = 6;
-// motor three
-int enC = 8;
-int in5 = 9;
-int in6 = 10;
-
-int sp = 160; //speed
-//variables used for motor controll
-double dirA = 0.00;
-double dirB = 0.00;
-double dirC = 0.00;
-double spdA = 0.00;
-double spdB = 0.00;
-double spdC = 0.00;
-double dirrad = 0.00;
-
-//code for i2c multiplexer
-void pcaselect(uint8_t i) {
-  if (i > 7) return;
-  Wire1.beginTransmission(PCAADDR);
-  Wire1.write(1 << i);
-  Wire1.endTransmission();  
-}
-//code for the motors
-//for motor A
-void Amove(int sped){
-  Serial.print("moving A ");
-  if (sped < 0) {
-    digitalWrite(in1, LOW);
-    digitalWrite(in2, HIGH);
-    Serial.print("back");
-  }
-  else{
-    digitalWrite(in1, HIGH);
-    digitalWrite(in2, LOW);
-    Serial.print("forward");
-  } 
-  Serial.print("with speed: ");
-  sp = abs(sped); 
-  analogWrite(enA, sp);
-  Serial.println(sp);
-}
-//for motor B
-void Bmove(int sped) {
-  Serial.print("moving B ");
-  if (sped < 0) {
-    digitalWrite(in3, LOW);
-    digitalWrite(in4, HIGH);
-    Serial.print("back");
-  } else {
-    digitalWrite(in3, HIGH);
-    digitalWrite(in4, LOW);
-    Serial.print("forward");
-  } 
-  Serial.print("with speed: ");
-  int sp = abs(sped);
-  analogWrite(enB, sp);
-  Serial.println(sp);
-}
-//for motor C
-void Cmove(int sped) {
-  Serial.print("moving C ");
-  if (sped < 0) {
-    digitalWrite(in5, LOW);
-    digitalWrite(in6, HIGH);
-    Serial.print("back");
-  } else {
-    digitalWrite(in5, HIGH);
-    digitalWrite(in6, LOW);
-    Serial.print("forward");
-  } 
-  Serial.print("with speed: ");
-  int sp = abs(sped);
-  analogWrite(enC, sp);
-  Serial.println(sp);
-}
-//for omhi drive capabilities
-void moveohmi(int speed, int direction)
-{
-  turnoff();
-
-  double dirrad = (direction*71) / 4068;  
-  Serial.println(dirrad);
-  //vector ontb in x en y
-  double x = sin(dirrad)*speed;
-  double y = cos(dirrad)*speed;
-  Serial.println((String)"x:"+x+" y:"+y);
-  spdA = -0.5*x - sqrt(3)/2*y;
-  spdB = x;
-  spdC = -0.5*x + sqrt(3)/2*y;
-  Amove(spdA);
-  Bmove(spdB);
-  Cmove(spdC);
-
-  Serial.println(spdA);
-  Serial.println(spdB);
-  Serial.println(spdC);
-  Serial.println();
-  Serial.println();
-}
-//for turing
-void turn(int speed){
-  Serial.println("turn");
-  analogWrite(enA, speed);
-  analogWrite(enB, speed);
-  analogWrite(enC, speed);
-  digitalWrite(in1, HIGH);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, HIGH);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, HIGH);
-  digitalWrite(in6, LOW);
-}
-//for moving forward
-void forward(int speed){
-  Serial.println("forward");
-  analogWrite(enA, speed);
-  analogWrite(enB, speed);
-  analogWrite(enC, speed);
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, HIGH);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, HIGH);
-  digitalWrite(in6, LOW);
-}
-//for turning all engines off
-void turnoff(){
-  Serial.println("stop");
-  analogWrite(enA, 0);
-  analogWrite(enB, 0);
-  analogWrite(enC, 0);
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, LOW);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, LOW);
-  digitalWrite(in6, LOW); 
-}
-//for finding the ball
-void findball(int irs1, int irs2, int irs3, int irs4, int irs5, int irs6, int spedo){
-  if (irs1 == 0){
-    //0deg
-    Bmove(-spedo);
-    Cmove(spedo);
-  }else if (irs2 == 0){
-    //60deg
-    Amove(-spedo);
-    Cmove(spedo);
-  }else if (irs3 == 0){
-    //120deg
-    Amove(-spedo);
-    Bmove(spedo);
-  }else if (irs4 == 0){
-    //180deg
-    Cmove(-spedo);
-    Bmove(spedo);
-  }else if (irs5 == 0){
-    //240deg
-    Cmove(-spedo);
-    Amove(spedo);
-  }
-  else if (irs6 == 0){
-    //300deg
-    Bmove(-spedo);
-    Amove(spedo);
-  }
-  else{
-    //turn to search ball
-    turn(100);
-  }
-}
-
-
-  /**
-    
-  starting setup
-
-**/
-void setup() {
-  // Motor setup
-  pinMode(enA, OUTPUT);
-  pinMode(enB, OUTPUT);
-  pinMode(enC, OUTPUT);
-  pinMode(in1, OUTPUT);
-  pinMode(in2, OUTPUT);
-  pinMode(in3, OUTPUT);
-  pinMode(in4, OUTPUT);
-  pinMode(in5, OUTPUT);
-  pinMode(in6, OUTPUT);
-
-  //sensor setup
-  delay(1000);
-  Wire.begin();
-  Wire1.begin();
-    
-  Serial.begin(115200);
-  Serial.println("\nPCAScanner ready!");
-  for (uint8_t t=0; t<8; t++) {
-    pcaselect(t);
-    Serial.print("PCA Port #"); Serial.println(t);
-
-    for (uint8_t addr = 0; addr<=127; addr++) {
-      if (addr == PCAADDR) continue;
-
-      Wire.beginTransmission(addr);
-      if (!Wire.endTransmission()) {
-        Serial.print("Found I2C 0x");  Serial.println(addr,HEX);
-      }
-    }
-  }
-  Serial.println("\ndone");
-  Serial.println("mark1");
-
-  //ir sensor setup
-  pinMode(sens1, INPUT);
-  pinMode(sens2, INPUT);
-  pinMode(sens3, INPUT);
-  pinMode(sens4, INPUT);
-  pinMode(sens5, INPUT);
-  pinMode(sens6, INPUT);
-  Serial.println("mark2");
-
-}
-
-  /**
-    
-  starting loop 
-  first collecting sensor data
-
-**/
-
-void loop() {
-
-
-  delay(100);
-  Wire.begin();
-  Wire1.begin();
-  Serial.println("\nPCAScanner ready!");
-  //port expander
-  Serial.println("ir sensors");
-  // read the input pin:
-  int sens1state = digitalRead(sens1);
-  int sens2state = digitalRead(sens2);
-  int sens3state = digitalRead(sens3);
-  int sens4state = digitalRead(sens4);
-  int sens5state = digitalRead(sens5);
-  int sens6state = digitalRead(sens6);
-
-  // Define a string to store the collected data
-  String irsensdata = "";
-
-  // Read the digital state of each IR sensor pin and concatenate the data to the string
-  irsensdata += String(sens1state);
-  irsensdata += String(", ");
-  irsensdata += String(sens2state);
-  irsensdata += String(", ");
-  irsensdata += String(sens3state);
-  irsensdata += String(", ");
-  irsensdata += String(sens4state);
-  irsensdata += String(", ");
-  irsensdata += String(sens5state);
-  irsensdata += String(", ");
-  irsensdata += String(sens6state);
-  // Print the collected data
-  Serial.print("IR sensor data: ");
-  Serial.println(irsensdata);
-
-  //collorsensor 1
-  pcaselect(1);
-  Serial.println("PCA Port #1   collor sensor 1");
-  uint16_t r, g, b, c, colorTemp, lux;
-  tcs.getRawData(&r, &g, &b, &c);
-  colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c);
-  lux = tcs.calculateLux(r, g, b);
-  Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" ");
-  r1 = (r, DEC);
-  g1 = (g, DEC);
-  b1 = (b, DEC);
-  //collorsensor 2
-  pcaselect(2);
-  Serial.println("PCA Port #2   collor sensor 2");
-  tcs.getRawData(&r, &g, &b, &c);
-  colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c);
-  lux = tcs.calculateLux(r, g, b);
-  Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" ");
-  r2 = (r, DEC);
-  g2 = (g, DEC);
-  b2 = (b, DEC);
-  //collorsensor 3
-  pcaselect(3);
-  Serial.println("PCA Port #3   collor sensor 3");
-  tcs.getRawData(&r, &g, &b, &c);
-  colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c);
-  lux = tcs.calculateLux(r, g, b);
-  Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" ");
-  r3 = r;
-  g3 = g;
-  b3 = b;
-  //collorsensor 4
-  pcaselect(4);
-  Serial.println("PCA Port #4   collor sensor 4");
-  tcs.getRawData(&r, &g, &b, &c);
-  colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c);
-  lux = tcs.calculateLux(r, g, b);
-  Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" ");
-  r4 = r;
-  g4 = g;
-  b4 = b;
-  //collorsensor 5
-  pcaselect(5);
-  Serial.println("PCA Port #5   collor sensor 5");
-  tcs.getRawData(&r, &g, &b, &c);
-  colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c);
-  lux = tcs.calculateLux(r, g, b);
-  Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" ");
-  r5 = r;
-  g5 = g;
-  b5 = b;
-  //collorsensor 6
-  pcaselect(6);
-  Serial.println("PCA Port #6   collor sensor 6");
-  tcs.getRawData(&r, &g, &b, &c);
-  colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c);
-  lux = tcs.calculateLux(r, g, b);
-  Serial.print("RGB: "); Serial.print(r, DEC); Serial.print(", "); Serial.print(g, DEC); Serial.print(", "); Serial.print(b, DEC); Serial.println(" ");
-  r6 = r;
-  g6 = g;
-  b6 = b;
-
-
-/**
-    Sensor data collected moving on to engines    
-
-    IR sensor variables collected are sens1state, sens2state, sens3state, sens4state, sens5state, sens6state
-    if 0 ball is that direction if 1 ball isnt detected
-    ir1 = 0deg
-    ir2 = 60deg
-    ir3 = 120deg
-    ir4 = 180deg
-    ir5 = 240deg
-    ir6 = 300deg
-
-    Collor sensor variables are r1, g1, b1, r2, g2, b2  ... r6, g6, b6
-    stil need to check what color it uses
-**/
-
-  findball(sens1state, sens2state, sens3state, sens4state, sens5state, sens6state, sp);
-
-
-
-  Serial.println("\ndone");
-  Serial.println("mark end loop");
-}
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