OTTO机器人之避障功能实现

版权声明：转载记得声明~~~ :) https://blog.csdn.net/ReCclay/article/details/82710155

#include <Servo.h> 
#include <Oscillator.h>
#include <US.h>
#include <Otto.h>

/*
                 --------------- 
                |     O   O     |
                |---------------|
RIGHT LEG 3==>  |               | <== LEFT LEG 2
                 --------------- 
                    ||     ||
RIGHT FOOT 5==>   -----   ------  <== LEFT FOOT 4
                 |-----   ------|
*/

#define PIN_LEFT_LEG   2   
#define PIN_RIGHT_LEG  3  
#define PIN_LEFT_FOOT  4  
#define PIN_RIGHT_FOOT 5 


#define TRIM_LEFT_LEG   0 
#define TRIM_RIGHT_LEG  0
#define TRIM_LEFT_FOOT  0 
#define TRIM_RIGHT_FOOT 0

Otto Otto;  //This is Otto!

void setup()
{
  Serial.begin(9600);
  Serial.println("hello");

  //Set the servo pins
  Otto.init(PIN_LEFT_LEG,PIN_RIGHT_LEG,PIN_LEFT_FOOT,PIN_RIGHT_FOOT,true);
  Otto.setTrims(TRIM_LEFT_LEG,TRIM_RIGHT_LEG, TRIM_LEFT_FOOT, TRIM_RIGHT_FOOT);

  Otto.sing(S_connection); //Otto wake up!
  Otto.home();

}
///////////////////////////////////////////////////////////////////
//-- Principal Loop ---------------------------------------------//
///////////////////////////////////////////////////////////////////
void loop() 
{
  bool obstacleDetected = false;

  obstacleDetected = obstacleDetector(); 

  if(obstacleDetected)
  { 
        Otto.sing(S_surprise); 
        Otto.walk(7,1000,BACKWARD); 
        delay(1000);
        Otto.sing(S_happy);
        Otto.turn(10,1000,RIGHT);                
        delay(2000); 

   }        
   else
   { 
          Otto.walk(1,1000,FORWARD);  
    }          
 }  

///////////////////////////////////////////////////////////////////
//-- Function to read distance sensor & to actualize obstacleDetected variable
bool obstacleDetector()
{
   int distance = Otto.getDistance();

   Serial.println(distance);

   if(distance<15)
   {
      return true;
   }
   else
   {
      return false;
   }

}