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TASK.md contains the task that was given to me for this assignment.
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‎README.md‎

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# ce243_emoro
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Emoro Robot Source Code for my CE243 Assignment 2
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Check out the video here!

‎TASK.md‎

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To design and write a C program to control an EMoRo robot. Your program should use the
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push buttons on its GLAM board to input commands and use its LCD to display messages.
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The functions of four buttons are specified below:
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- SW_1: Forward motion and Obstacle avoidance
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- SW_2: Line following (move along a circle track)
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- SW_3: Line following (move along a square track)
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- SW_4: Stop the motion of the robot and reset the computer for next button input.
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Button: The input to your program will be the four push buttons, SW_1, SW_2, SW_3 and
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SW_4. These buttons will trigger the EMoRo robot to implement different tasks.
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More specifically,
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Pressing SW_1 triggers the EMoRo robot to move forward and avoid any obstacle
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detected by its on-board sonar sensors.
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Pressing SW_2 triggers the EMoRo robot to move along a circle track which is
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very smooth.
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Pressing SW_3 triggers the EMoRo robot to move along a square track that has
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four sharp turns at 90 degrees.
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Pressing SW_4 will stop the movement of the EMoRo robot and reset the
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embedded computer for next button input.
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LCD: All messages should be displayed on the LCD device on the robot.
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1) When the robot is switched on or after SW_4 is pressed, the LED should
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display the following message:
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1. Obst 2. Circle 3. Square 4. Reset
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2) After SW_1 is pressed, the LCD should display moving forward. When an
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obstacle is detected, the LCD should display obstacle detected.
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3) After SW_2 is pressed, the LCD should display Circle track following.
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4) After SW_3 is pressed, the LCD should display Square track following. When
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the robot is turning at the corners of the square track, the LCD shows Sharp
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turning *** degrees. When the robot moves along the straight line sections,
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the LCD shows Square track following.
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Libraries: You should use the EMoRo2560 library provided in Moodle to write your C
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program.

‎main.ino‎

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// LCD Menu items
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char obstacle[16] = "1.Obst";
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char circle[16] = "2.Circle";
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char squ[16] = "3.Square";
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char reset[16] = "4.Reset";
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unsigned char ReadSwitch(unsigned char sw);
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// Declare variables
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int servoPort[2] = {SERVO_0, SERVO_1};
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int waitState = 1000;
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int lServ = 2000;
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int rServ = 1000;
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int sensorPin = GPP_0;
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int cm;
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static int active = -1; // Check button pressed constant
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// Values for moving bot back or forward
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static int Lbck = 2500;
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static int Rbck = 1000;
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static int Lfwd = 1000;
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static int Rfwd = 2000;
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void setup() {
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// Initialise serial, servos, servos and IR sensors
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Serial.begin(9600);
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EmoroServo.attach(servoPort[0]);
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EmoroServo.attach(servoPort[1]);
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Ultrasonic.attach(sensorPin);
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pinMode(IO_0, INPUT_PULLUP);
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pinMode(IO_1, INPUT_PULLUP);
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// Call mainMenu function to print the main menu
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mainMenu();
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}
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void loop() {
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// Read sensor pin distance in CM
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cm = Ultrasonic.read(sensorPin);
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if (ReadEmoroHardware() & SW_AVAILABLE) {
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// Check if switches are pressed, if pressed, set active to x
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if (ReadSwitch(SW_1) == 1)
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{
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active = 1;
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}
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else if (ReadSwitch(SW_2) == 1)
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{
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active = 2;
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}
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else if (ReadSwitch(SW_3) == 1)
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{
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active = 3;
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}
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else if (ReadSwitch(SW_4) == 1)
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{
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active = 4;
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}
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}
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if (active == 1) {
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Serial.println("Obst");
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Lcd.clear();
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Lcd.locate(0, 0);
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Lcd.print("Moving...");
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moveBot();
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// Debug
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Serial.print("Servo pulse width: ");
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Serial.print(EmoroServo.read(servoPort[0]));
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Serial.print(" us\n");
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Serial.print("Servo pulse width: ");
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Serial.print(EmoroServo.read(servoPort[1]));
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Serial.print(" us\n");
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Serial.println("Moving...");
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// Calls the objDetected function that stops bot
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// Then moves away from the object
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objDetected();
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}
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else if (active == 2) {
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Serial.println("Switch SW_2 is activated");
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Lcd.clear();
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Lcd.locate(0, 0);
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Lcd.print("Circle Track");
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Lcd.locate(1, 0);
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Lcd.print("Following");
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doCircle();
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}
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else if (active == 3) {
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Serial.println("Switch SW_3 is activated");
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Lcd.clear();
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Lcd.locate(0, 0);
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Lcd.print("Square Track");
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Lcd.locate(1, 0);
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Lcd.print("Following");
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doSquare();
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}
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else if (active == 4) {
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Serial.println("Robot Reset");
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stopBot();
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Lcd.locate(0, 0);
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Lcd.print("Resetting...");
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Lcd.clear();
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active = -1;
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mainMenu();
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}
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}
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/*********************
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* EMORO FUNCTIONS *
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*********************/
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// Function to enable return to main menu
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void mainMenu()
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{
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if (ReadEmoroHardware() & LCD_AVAILABLE) { // if LCD and switch avaliable
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Serial.println("LCD Ready");
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Lcd.locate(0, 0);
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Lcd.print(obstacle);
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Lcd.locate(0, 8);
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Lcd.print(circle);
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Lcd.locate(1, 0);
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Lcd.print(squ);
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Lcd.locate(1, 9);
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Lcd.print(reset);
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} else {
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Serial.println("LCD Not Ready");
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}
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}
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// Function to stop the bot
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void stopBot()
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{
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// Set servo pulse to 1500us. For position servo motors this will set the middle position,
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// for servo motors with continuous rotation this will stop rotation
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EmoroServo.write(servoPort[0], 1500);
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EmoroServo.write(servoPort[1], 1500);
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}
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// Function to move bot
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void moveBot()
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{
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// Set servo pulse to 1000us. For position servo motors this will set the left position,
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// for servo motors with continuous rotation this will set continuous rotation in CCW direction
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EmoroServo.write(servoPort[0], lServ);
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EmoroServo.write(servoPort[1], rServ);
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}
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// Function to detect obstacles
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void objDetected()
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{
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cm = Ultrasonic.read(sensorPin);
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// Stop robot if less than 25cm
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if (cm <= 25)
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{
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Serial.println("Object Detected!");
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Lcd.clear();
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Lcd.locate(2, 0);
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Lcd.print("Object Detected!");
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// Calls stopBot function to stop bot if less than 25cm
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stopBot();
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delay(85);
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// Moves the bot back
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EmoroServo.write(servoPort[0], 500);
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EmoroServo.write(servoPort[1], 2500);
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delay(200);
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// Turns bot
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EmoroServo.write(servoPort[0], 500);
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EmoroServo.write(servoPort[1], 500);
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delay(250);
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// Moves forward and away form the object
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EmoroServo.write(servoPort[0], lServ);
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EmoroServo.write(servoPort[1], rServ);
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//delay(100);
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}
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}
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// Function for following circle
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void doCircle()
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{
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// If Both sensors detect white, go forward.
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if (digitalRead(IO_0) == 1 && digitalRead(IO_1) == 1) {
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EmoroServo.write(servoPort[0], Lfwd);
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EmoroServo.write(servoPort[1], Rfwd);
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Lcd.locate(0, 0);
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Serial.print("White");
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Lcd.print("White");
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Lcd.locate(1, 0);
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Lcd.print(digitalRead(IO_0));
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Lcd.locate(1, 2);
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Lcd.print(digitalRead(IO_1));
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}
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// Only left sensor is on the black, turn right.
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else if (digitalRead(IO_0) == 1) {
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EmoroServo.write(SERVO_0, Lbck);
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EmoroServo.write(SERVO_1, Rfwd);
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Lcd.locate(0, 0);
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Lcd.print("Left Sensor");
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Lcd.locate(1, 0);
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Lcd.print(digitalRead(IO_0));
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Lcd.locate(1, 2);
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Lcd.print(digitalRead(IO_1));
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delay(10);
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}
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// Only right sensor is on the black, turn left.
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else if (digitalRead(IO_1) == 1) {
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EmoroServo.write(SERVO_0, Lfwd);
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EmoroServo.write(SERVO_1, Rbck);
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Lcd.locate(0, 0);
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Lcd.print("Right Sensor");
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Lcd.locate(1, 0);
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Lcd.print(digitalRead(IO_0));
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Lcd.locate(1, 2);
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Lcd.print(digitalRead(IO_1));
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delay(10);
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}
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}
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// Function for following square
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void doSquare()
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{
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// If Both sensors detect white, go forward.
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if (digitalRead(IO_0) == 1 && digitalRead(IO_1) == 1) {
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EmoroServo.write(servoPort[0], Lfwd);
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EmoroServo.write(servoPort[1], Rfwd);
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Lcd.locate(0, 0);
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Serial.print("White");
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Lcd.print("White");
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Lcd.locate(1, 0);
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Lcd.print(digitalRead(IO_0));
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Lcd.locate(1, 2);
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Lcd.print(digitalRead(IO_1));
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}
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// Only left sensor is on the black, turn 90 deg right.
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else if (digitalRead(IO_0) == 1) {
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EmoroServo.write(SERVO_0, Lbck);
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EmoroServo.write(SERVO_1, Rfwd);
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delay(500);
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Lcd.locate(0, 0);
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Lcd.print("Left Sensor");
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Lcd.locate(1, 0);
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Lcd.print(digitalRead(IO_0));
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Lcd.locate(1, 2);
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Lcd.print(digitalRead(IO_1));
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}
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// Only right sensor is on the black, turn 90 deg left.
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else if (digitalRead(IO_1) == 1) {
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EmoroServo.write(SERVO_0, Lfwd);
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EmoroServo.write(SERVO_1, Rbck);
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delay(500);
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Lcd.locate(0, 0);
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Lcd.print("Right Sensor");
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Lcd.locate(1, 0);
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Lcd.print(digitalRead(IO_0));
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Lcd.locate(1, 2);
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Lcd.print(digitalRead(IO_1));
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}
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}

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