├── README.md
└── DefensiveRadar
    └── DefensiveRadar.ino


/README.md:
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 1 | # DefensiveRadar Project
 2 | This is a school project where the instruction was to build a robot based on a Lego structure and on Makeblock sensors (because of hardware availability limitations).
 3 | The structure we built looks like this :
 4 | **![](https://lh6.googleusercontent.com/NJl1IC1Vx3p7mFe5O0Dq3-76MP3sFJ_4x0A9BOu3MntaWPR27tzvu6RsBbOtDkTc-stzYtoPWvHoJ_E9JZF3JhK9MXr3GQznPXHrOtjwhCO2IA0wNKTFuV5bmQUJP55OuIcXMUWi)****![](https://lh4.googleusercontent.com/9A2gKTU6L_dMkr5FrBQqPE4BSeYRzS7MSwhyvcV9rH0BDI8oVbE_2dGikxwtRVX6BQ0Dk3TaXSyiDvuP5gXtBJZ76DA3RlM4fTkERO38LzA0yvU_Rixyw7EyIf3MKhhtiFZVlkpk)**
 5 | # General algorithm
 6 | **![](https://lh5.googleusercontent.com/o9ZgcIeiMyhHDjQjz-KOZsirs-LIP-s4n-kV7BzZpwni9pqtFqx7bu5yTZcrzkCJCbRKlP3PD2tyW92BD3bmlIt_vv4SxFw8R-GJyJ0bk8khNSyp6XiBCIMAqf5kg-Kf-4MwTr4k)**
 7 | **![](https://lh4.googleusercontent.com/ry9TTh2XFTeu-Rz6niBi3rXwzQ-pcme_Wj1KbRq6mbf67MJVtszh7Ocuds8bFyBENcUyKkQ-9guPetXLPT2-M5bbhvTQMMU99dXv_tzXCKxd71KMxvYzrJVwA1f0URZegTpHQWTj)**
 8 | 
 9 | The `fire()` method simply asks motor2 to run 1 turn. 
10 | 
11 | 
12 | # Contributors
13 | - Stéphane DELEBASSE
14 | - [Nans DUMORTIER](http://github.com/nansd)
15 | 


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/DefensiveRadar/DefensiveRadar.ino:
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  1 | /**
  2 |  * @file    DefensiveRadar.ino
  3 |  * @author  Stéphane DELEBASSE - Nans DUMORTIER
  4 |  * @version V1.0.0
  5 |  * @date    2018/05/23
  6 |  * @brief   Description: this file is a program that allows a robot to scan its environment and fire at targets
  7 |  *
  8 |  * Function List:
  9 |  * 1. checkDistance : function that checks what's in front of the robot, if a target is in range, rescan the area and fire at it
 10 |  * 2. fire : function that fire balls contained in the tank
 11 |  * 
 12 |  * motorX.moveTo, motorX.getCurrentPosition, motorX.runTurns are functions provided by Makeblock
 13 |  * See : https://github.com/Makeblock-official/Me_EncodeDriver 
 14 |  * ultraSensor.distanceCm is another function provided by Makeblock
 15 |  *
 16 | **/
 17 | 
 18 | #include "MeOrion.h"
 19 | #include <Wire.h>
 20 | #include <SoftwareSerial.h>
 21 | 
 22 | MeUltrasonicSensor ultraSensor(PORT_6); /* Ultrasonic module can ONLY be connected to port 3, 4, 6, 7, 8 of base shield. */
 23 | MeEncoderMotor motor1(0x09, SLOT1);   //  motor at slot2
 24 | MeEncoderMotor motor2(0x09, SLOT2);   //  motor at slot2
 25 | 
 26 | void setup()
 27 | {
 28 |   Serial.begin(9600);
 29 |   // motor1 is responsible for the rotation that allows to scan an area
 30 |   motor1.begin(); 
 31 |   // motor2 is responsible for firing
 32 |   motor2.begin();
 33 | }
 34 | 
 35 | void loop()
 36 | {
 37 |   Serial.println("Moving left");
 38 |   float desiredAngle = 50;
 39 |   float desiredSpeed = 10;
 40 |   motor1.moveTo(desiredAngle, desiredSpeed);
 41 |   for(int i = 0; i < 20; i++){
 42 |     checkDistance(); // function that takes at least 100ms to run
 43 |   }
 44 | 
 45 | 
 46 |   Serial.println("Moving right");
 47 |   desiredAngle = -desiredAngle;
 48 |   motor1.moveTo(desiredAngle, desiredSpeed);
 49 |   for(int j = 0; j < 20; j++){
 50 |     checkDistance(); // function that takes at least 100ms to run
 51 |   }
 52 | }
 53 | 
 54 | void checkDistance()
 55 | // function that checks what's in front of the robot
 56 | // if a target is in range, rescan the area and fire at it
 57 | { 
 58 |   float currentPos = motor1.getCurrentPosition();
 59 |   float distanceCm;
 60 |   distanceCm = ultraSensor.distanceCm();
 61 | 
 62 |   if(distanceCm > 5.0 && distanceCm <= 25.0){
 63 |     // rescan the area
 64 |     // memorize the position where the object is
 65 |     // (= where the distance between the robot and the
 66 |     // closest obstacle is the smallest)
 67 |     // move to that position
 68 |     // fire
 69 |     Serial.println("Target detected");
 70 |     motor1.moveTo(currentPos - 10, 15);
 71 |     Serial.println("Moving for scanning");
 72 |     float desiredAngle = currentPos + 10;
 73 |     Serial.println("Beginning scan");
 74 |     float desiredSpeed = 7;
 75 |     float distance2 = 30;
 76 |     float reading;
 77 |     float position2 = currentPos;
 78 |     motor1.moveTo(desiredAngle, desiredSpeed);
 79 |     for(int k = 0; k < 10; k++){
 80 |       reading = ultraSensor.distanceCm();
 81 |       if(distance2 > reading){
 82 |         distance2 = reading;
 83 |         position2 = motor1.getCurrentPosition();
 84 |       }
 85 |       delay(100);
 86 |     }
 87 |     Serial.println("Moving towards the target");
 88 |     Serial.println(position2);
 89 |     motor1.moveTo(position2, 15);
 90 |     delay(1000);
 91 |     Serial.println("Target's position reached");
 92 |     Serial.println("FIRE !");
 93 |     fire();
 94 |   }
 95 |  
 96 |   if (distanceCm <= 5.0){
 97 |     motor1.moveTo(currentPos, 10);
 98 |     delay(100);
 99 |     // fire almost instantly if the target is too close
100 |     fire(); 
101 |   }
102 |   delay(100);
103 | }
104 | 
105 | void fire()
106 | {
107 |   motor2.runTurns(0.5,200);
108 |   delay(1000);
109 |   Serial.println("Projectile launched");
110 | }
111 | 
112 | 
113 | 
114 | 


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