RobotLogo

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1/* Robot Logo
2
3 This sketch demonstrates basic movement of the Robot.
4
5 When the sketch starts, press the on-board buttons to tell
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7 the robot how to move. Pressing the middle button will
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9 save the pattern, and the robot will follow accordingly.
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11 You can record up to 20 commands. The robot will move for
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13 one second per command.
14
15 This example uses images on an SD card. It looks for
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17 files named "lg0.bmp" and "lg1.bmp" and draws them on the
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19 screen.
20
21 Circuit:
22
23 * Arduino Robot
24
25 created 1 May 2013
26
27 by X. Yang
28
29 modified 12 May 2013
30
31 by D. Cuartielles
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33 This example is in the public domain
34
35 */
36
37#include <ArduinoRobot.h> // include the robot library
38#include <Wire.h>
39
40int commands[20];  //  array for storing commands
41
42void setup() {
43
44  // initialize the Robot, SD card, and display
45
46  Robot.begin();
47
48  Robot.beginTFT();
49
50  Robot.beginSD();
51
52  // draw "lg0.bmp" and "lg1.bmp" on the screen
53
54  Robot.displayLogos();
55}
56
57void loop() {
58
59  Robot.drawBMP("intro.bmp", 0, 0);  //display background image
60
61  iniCommands(); // remove commands from the array
62
63  addCommands(); // add commands to the array
64
65  delay(1000); // wait for a second
66
67  executeCommands(); // follow orders
68
69  Robot.stroke(0, 0, 0);
70
71  Robot.text("Done!", 5, 103); // write some text to the display
72
73  delay(1500); // wait for a moment
74}
75
76// empty the commands array
77void iniCommands() {
78
79  for (int i = 0; i < 20; i++) {
80
81    commands[i] = -1;
82
83  }
84}
85
86// add commands to the array
87void addCommands() {
88
89  Robot.stroke(0, 0, 0);
90
91  // display text on the screen
92
93  Robot.text("1. Press buttons to\n add commands.\n\n 2. Middle to finish.", 5, 5);
94
95  // read the buttons' state
96
97  for (int i = 0; i < 20;) { //max 20 commands
98
99    int key = Robot.keyboardRead();
100
101    if (key == BUTTON_MIDDLE) { //finish input
102
103      break;
104
105    } else if (key == BUTTON_NONE) { //if no button is pressed
106
107      continue;
108
109    }
110
111    commands[i] = key; // save the button to the array
112
113    PrintCommandI(i, 46); // print the command on the screen
114
115    delay(100);
116
117    i++;
118
119  }
120}
121
122// run through the array and move the robot
123void executeCommands() {
124
125  // print status to the screen
126
127  Robot.text("Executing...", 5, 70);
128
129  // read through the array and move accordingly
130
131  for (int i = 0; i < 20; i++) {
132
133    switch (commands[i]) {
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135      case BUTTON_LEFT:
136
137        Robot.turn(-90);
138
139        break;
140
141      case BUTTON_RIGHT:
142
143        Robot.turn(90);
144
145        break;
146
147      case BUTTON_UP:
148
149        Robot.motorsWrite(255, 255);
150
151        break;
152
153      case BUTTON_DOWN:
154
155        Robot.motorsWrite(-255, -255);
156
157        break;
158
159      case BUTTON_NONE:
160
161        return;
162
163    }
164
165    // print the current command to the screen
166
167    Robot.stroke(255, 0, 0);
168
169    PrintCommandI(i, 86);
170
171    delay(1000);
172
173    // stop moving for a second
174
175    Robot.motorsStop();
176
177    delay(1000);
178
179  }
180}
181
182// convert the button press to a single character
183char keyToChar(int key) {
184
185  switch (key) {
186
187    case BUTTON_LEFT:
188
189      return '<';
190
191    case BUTTON_RIGHT:
192
193      return '>';
194
195    case BUTTON_UP:
196
197      return '^';
198
199    case BUTTON_DOWN:
200
201      return 'v';
202
203  }
204}
205
206// display a command
207void PrintCommandI(int i, int originY) {
208
209  Robot.text(keyToChar(commands[i]), i % 14 * 8 + 5, i / 14 * 10 + originY);
210}