From 189b28b9330537356c5ffcd4fa747465e54be497 Mon Sep 17 00:00:00 2001
From: bryan newbold <bnewbold@robocracy.org>
Date: Tue, 9 Feb 2010 16:22:46 -0500
Subject: Initialized; added arduino sketch files

---
 arduino-sketches/sketch_feb01b/sketch_feb01b.pde | 61 ++++++++++++++++++++++++
 1 file changed, 61 insertions(+)
 create mode 100644 arduino-sketches/sketch_feb01b/sketch_feb01b.pde

(limited to 'arduino-sketches/sketch_feb01b/sketch_feb01b.pde')

diff --git a/arduino-sketches/sketch_feb01b/sketch_feb01b.pde b/arduino-sketches/sketch_feb01b/sketch_feb01b.pde
new file mode 100644
index 0000000..b625714
--- /dev/null
+++ b/arduino-sketches/sketch_feb01b/sketch_feb01b.pde
@@ -0,0 +1,61 @@
+#include <Servo.h> 
+ 
+Servo drive;
+ 
+int drive_pin = 9;
+int orient_pin = 0;
+int orient = 0;
+int want_orient = 0;
+int diff = 0;
+int strength = 0;
+int slower = 0;
+int ledPin = 13;
+ 
+void setup() 
+{ 
+  drive.attach(drive_pin);
+  pinMode(ledPin, OUTPUT);   
+} 
+ 
+void loop() 
+{ 
+  want_orient = want_orient + 1;
+  
+  if(want_orient > 1023) { want_orient = want_orient - 1024; }
+  
+  
+  orient = analogRead(orient_pin);
+  
+  want_orient = 100;
+  
+  if(orient - want_orient > 50) {
+    digitalWrite(ledPin, HIGH);
+    strength = strength +1; 
+  } else if (orient - want_orient < -50) {
+    digitalWrite(ledPin, HIGH);
+    strength = strength -1;
+  } else {
+    digitalWrite(ledPin, LOW);
+  }
+  strength = constrain(strength, -40, 40);
+  drive.write(91 + strength/10);
+
+  /*
+  //diff = want_orient - orient;
+  //if(abs(diff) > 511) diff = (diff/abs(diff))*(1024-diff);
+  diff = 0;
+  
+  
+  
+  diff = diff / (511/89);
+  digitalWrite(ledPin, LOW);
+  if(abs(diff) < 20) { strength = 90; digitalWrite(ledPin, HIGH); }
+  else if (abs(diff) > 90) strength = (diff/abs(diff)) * 89 + 90;
+  else strength = 90 + diff;
+  
+  if(abs(want_orient - orient) < 50) digitalWrite(ledPin, HIGH);
+
+  drive.write(strength);
+    */
+  delay(15);
+} 
-- 
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