Implementation

OBJECTIVE OF THE GAME

PLAYERS

Motor Current Spikes Triggering Interrupts

On-board Video on Raspberry Pi

Power Consumption

Final Arduino Code for Robot 1

#include <Servo.h>
#include "avr/interrupt.h"

char instruction [10]; //instruction sent to arduino
int i = 0; //index for instruction array
int j = 0; //index for for loop

String stringXCoord = "";
int intXCoord; //x coordinate for servo
String stringYCoord = "";
int intYCoord; //y coordinate for servo

Servo servoX; //servo x
Servo servoY; //servo y

DESIGN

TouchOSC configuration screen

Sending Messages

Circle Network Setup

NEW PACKET STRUCTURE

LASERBOT ONE CODE 

INSTRUCTION PACKET CODE

char instruction [10]; //instruction sent to arduino 

//message to send on to Robot 2
String resendMessage = "";

//check that message is for robot 1 <1....>
        if (instruction[j+1] == '1')
        {

//else check is message is for robot 2 <2...>
        else if (instruction[j+1] == '2')
        {
          //reset resend message to blank
          resendMessage = "";
          int k = 0;
          //loop around the instruction message
          for (k = j; k<(j+10); k++)
          {
            //concatenate all characters of message
            resendMessage += instruction[k];
          }
          Serial.print(0); //flush the serial port
          Serial.print(resendMessage); //send the message onto Robot 2
        }

SCORE PACKET CODE

//string to print to contact games master - in the following form:
//G (games master) 2 (robot 2's score) 10 (how much to increment score)
String GMscoreLR = "[G210]";
String GMscoreB = "[G215]";

    Serial.print(0);//flush the serial port
    //print message to GM to increment Robot 2's score
    Serial.println(GMscoreLR);

    Serial.print(0);//flush the serial port
    //print message to GM to increment Robot 2's score
    Serial.println(GMscoreB);

LASERBOT TWO CODE

char instruction [10]; //instruction sent to arduino 

//message to send on to Games Master
String resendMessage = "";

//check the message is for  robot 2 <2...>
        if (instruction[j+1] == '2')
        {

//if message is score packet for the Games Master
      else if ((instruction[j] == '[') &&  (instruction[j+5] == ']'))
      {
        //reset resend message to blank
          resendMessage = "";
          int k = 0;
          //loop around the instruction message
          for (k = j; k<(j+6); k++)
          {
            //concatenate all characters of message
            resendMessage += instruction[k];
          }
          Serial.print(0); //flush the serial port
          Serial.print(resendMessage); //send the message onto games master
      }

    Serial.print(0);//flush the serial port
    //print message to GM to increment Robot 2's score
    Serial.println(GMscoreLR);

    Serial.print(0);//flush the serial port
    //print message to GM to increment Robot 2's score
    Serial.println(GMscoreB);

Xbees in Unicast mode

Xbee Shields

PROBLEM ENCOUNTERED WITH ONE INTERRUPT

while(Serial.available() > 0){//look for Serial data 
    int incoming = Serial.read();//read and store the value
    
    instruction[i] = incoming; //store the instruction in the array

//loop round the instruction array (expecting 9 characters)
    for (j = 0; j<9; j++)
    {
      //get the coordinates for the motor  
      if ((instruction[j] == '<') &&  (instruction[j+8] == '>'))
      {

//concatenate the two strings for x coordinates together
stringXCoord += instruction[j+2];
stringXCoord += instruction[j+3];
//make the string an integer
intXCoord = stringXCoord.toInt();
servoX.write(intXCoord); //write to the servo
  
//concatenate the two strings for y coordinates together
stringYCoord += instruction[j+4];
stringYCoord += instruction[j+5];
//make the string an integer
intYCoord = stringYCoord.toInt(); 
servoY.write(intYCoord); //write to the servo 

          //turn laser on
          if (instruction[j+1] == 'F')
          {
            digitalWrite(laser, LOW);
          }
          //turn laser off
          if (instruction[j+1] == 'f')
          {
            digitalWrite(laser, HIGH);
          }

//control motors on robot - left motor forward
        if (instruction[j+6] == 'F')
        {
          digitalWrite(leftMotor1, LOW);
          digitalWrite(leftMotor2, HIGH);
        }
        //control motors on robot - left motor stop
        if (instruction[j+6] == 'S')
        {
          digitalWrite(leftMotor1, LOW);
          digitalWrite(leftMotor2, LOW);
        }          
        //control motors on robot - left motor backward
        if (instruction[j+6] == 'B')
        {
          digitalWrite(leftMotor1, HIGH);
          digitalWrite(leftMotor2, LOW);
        }
        //control motors on robot - right motor forward
        if (instruction[j+7] == 'F')
        {
          digitalWrite(rightMotor1, HIGH);
          digitalWrite(rightMotor2, LOW);
        }
        //control motors on robot - right motor stop
        if (instruction[j+7] == 'S')
        {
          digitalWrite(rightMotor1, LOW);
          digitalWrite(rightMotor2, LOW);
        }
        //control motors on robot - right motor backward
        if (instruction[j+7] == 'B')
        {
          digitalWrite(rightMotor1, LOW);
          digitalWrite(rightMotor2, HIGH);
        }

        //reset variable for instruction array 
        i = -1;
      }
    }
    //increment counter for instruction array
    i++;
    //reset variables used
    stringXCoord = "";
    stringYCoord = "";
    intXCoord = 0;
    intYCoord = 0;
  }
}

#include <Servo.h>
char instruction [9]; //instruction sent to arduino
int i = 0; //index for instruction array
int j = 0; //index for for loop

String stringXCoord = "";
int intXCoord; //x coordinate for motor
String stringYCoord = "";
int intYCoord; //y coordinate for motor

Servo servoX; //servo x
Servo servoY; //servo y

//pin for laser and LDR
int laser = 13;

//pin numbers for the motor on the robot
int leftMotor1 = 11;
int leftMotor2 = 12;
int rightMotor1 = 9;
int rightMotor2 = 10;

void setup(){
  //init Serial library (make sure Processing is sending data at the same baud rate)
  Serial.begin(9600);
  servoX.attach(5);
  servoY.attach(6);
  
  pinMode(sensor1, INPUT);
  pinMode(laser, OUTPUT);
  pinMode(leftMotor1, OUTPUT);
  pinMode(leftMotor2, OUTPUT);
  pinMode(rightMotor1, OUTPUT);
  pinMode(rightMotor2, OUTPUT);
}

Laser Setup

TESTING LASER SWITCHES ON

TESTING LASER WORKS WITH ARDUINO

The laser was then tested with the Arduino. The white wire was connected to a TTL output on the Arduino (Port 13), the red wire was connected to 5V and the black wire was connected to Gnd as shown in the diagram below. Again, the green wire was left unconnected. 

Arduino Laser Connections

Laser Detection

LDR

LDR and circuit symbol

Mini Photocell

DETECTION CIRCUIT

LDR circuit

SIMPLE LASER DETECTION

/*
int LDR = 7; //LDR attached to pin 7
int laser = 8; //Laser attached to pin 8

// the setup routine runs once when you press reset:
void setup() {
  // initialize serial communication at 9600 bits per second:
  Serial.begin(9600);
  // make the LDR's pin an input:
  pinMode(LDR, INPUT);
  //make the laser's pin an output:
  pinMode(laser, OUTPUT);
  
  digitalWrite(laser, LOW);//turn laser on 
}

// the loop routine runs over and over again forever:
void loop() {
  // read the input pin:
  int hitState = digitalRead(LDR);

  //LDR goes low when it has been hit
  if (hitState == 0)
  {
    Serial.println("HIT");
    delay(2000);        // delay in between reads for stability
  }

 #include "avr/interrupt.h"

  sei(); //Enable global interrupts
  EIMSK |= (1 << INT0); //Enable external interrupt INT0
  EICRA |= (1 << ISC01); //Trigger INT0 on falling edge

//interrupt service routine for when the LDR is hit
ISR(INT0_vect)
{
    Serial.println("HIT INTERRUPT");
}

int LDR = 2; //LDR attached to pin 2 (as pin 2 has an interrupt on it)
int laser = 8; //Laser attached to pin 8

// the setup routine runs once when you press reset:
void setup() {
  // initialize serial communication at 9600 bits per second:
  Serial.begin(9600);
  // make the LDR's pin an input:
  pinMode(LDR, INPUT);
  //make the laser's pin an output:
  pinMode(laser, OUTPUT);
  
  sei(); //Enable global interrupts
  EIMSK |= (1 << INT0); //Enable external interrupt INT0
  EICRA |= (1 << ISC01); //Trigger INT0 on falling edge
  
  digitalWrite(laser, HIGH);//turn laser on 
}

// the loop routine runs over and over again forever:
void loop() {
  //print something so program has something to do
  Serial.println("Waiting for interrupt");
  delay(1000); //wait one second
}

//interrupt service routine for when the LDR is hit
ISR(INT0_vect)
{
    Serial.println("HIT INTERRUPT");
}

 #include "avr/interrupt.h"

int LDR = 2; //LDR attached to pin 2 (as pin 2 has an interrupt on it)
int laser = 8; //Laser attached to pin 8
int score = 0; //score of the robot
int scoreFront = 10; //score of hitting the LDR
//introduce 5 second interval after hit before another hit can occur
int interval = 5000; 
long lastBlinkTime = 0; //variable used with millis

// the setup routine runs once when you press reset:
void setup() {
  // initialize serial communication at 9600 bits per second:
  Serial.begin(9600);
  // make the LDR's pin an input:
  pinMode(LDR, INPUT);
  //make the laser's pin an output:
  pinMode(laser, OUTPUT);
  
  sei(); //Enable global interrupts
  EIMSK |= (1 << INT0); //Enable external interrupt INT0
  EICRA |= (1 << ISC01); //Trigger INT0 on falling edge
  
  digitalWrite(laser, HIGH); 
}

// the loop routine runs over and over again forever:
void loop() {
  //make program do something
  digitalWrite(laser, HIGH);  
}

//interrupt service routine for when the LDR is hit
ISR(INT0_vect)
{
  unsigned long hitMillis = millis();
  
  //if there has been more than 5 seconds since the last hit
  if ((hitMillis - lastBlinkTime) > interval)
  {
    lastBlinkTime = hitMillis;
    
    //increment score
    score = score + scoreFront;
    
    Serial.println("Hit Interrupt");
    Serial.println(score);
  }
}