|
- //Made by POLULU
-
- #include <QTRSensors.h>
-
- // This example is designed for use with eight RC QTR sensors. These
- // reflectance sensors should be connected to digital pins 3 to 10. The
- // sensors' emitter control pin (CTRL or LEDON) can optionally be connected to
- // digital pin 2, or you can leave it disconnected and remove the call to
- // setEmitterPin().
- //
- // The setup phase of this example calibrates the sensors for ten seconds and
- // turns on the Arduino's LED (usually on pin 13) while calibration is going
- // on. During this phase, you should expose each reflectance sensor to the
- // lightest and darkest readings they will encounter. For example, if you are
- // making a line follower, you should slide the sensors across the line during
- // the calibration phase so that each sensor can get a reading of how dark the
- // line is and how light the ground is. Improper calibration will result in
- // poor readings.
- //
- // The main loop of the example reads the calibrated sensor values and uses
- // them to estimate the position of a line. You can test this by taping a piece
- // of 3/4" black electrical tape to a piece of white paper and sliding the
- // sensor across it. It prints the sensor values to the serial monitor as
- // numbers from 0 (maximum reflectance) to 1000 (minimum reflectance) followed
- // by the estimated location of the line as a number from 0 to 5000. 1000 means
- // the line is directly under sensor 1, 2000 means directly under sensor 2,
- // etc. 0 means the line is directly under sensor 0 or was last seen by sensor
- // 0 before being lost. 5000 means the line is directly under sensor 5 or was
- // last seen by sensor 5 before being lost.
-
- QTRSensors qtr;
-
- const uint8_t SensorCount = 8;
- uint16_t sensorValues[SensorCount];
-
- void setup()
- {
- // configure the sensors
- qtr.setTypeRC();
- qtr.setSensorPins((const uint8_t[]){10, 11, 12, 14, 15, 16, 18, 19}, SensorCount);
- qtr.setEmitterPin(7);
-
- delay(500);
- pinMode(LED_BUILTIN, OUTPUT);
- digitalWrite(LED_BUILTIN, HIGH); // turn on Arduino's LED to indicate we are in calibration mode
-
- // 2.5 ms RC read timeout (default) * 10 reads per calibrate() call
- // = ~25 ms per calibrate() call.
- // Call calibrate() 400 times to make calibration take about 10 seconds.
- for (uint16_t i = 0; i < 400; i++)
- {
- qtr.calibrate();
- }
- digitalWrite(LED_BUILTIN, LOW); // turn off Arduino's LED to indicate we are through with calibration
-
- // print the calibration minimum values measured when emitters were on
- Serial.begin(9600);
- for (uint8_t i = 0; i < SensorCount; i++)
- {
- Serial.print(qtr.calibrationOn.minimum[i]);
- Serial.print(' ');
- }
- Serial.println();
-
- // print the calibration maximum values measured when emitters were on
- for (uint8_t i = 0; i < SensorCount; i++)
- {
- Serial.print(qtr.calibrationOn.maximum[i]);
- Serial.print(' ');
- }
- Serial.println();
- Serial.println();
- delay(1000);
- }
-
- void loop()
- {
- // read calibrated sensor values and obtain a measure of the line position
- // from 0 to 5000 (for a white line, use readLineWhite() instead)
- uint16_t position = qtr.readLineBlack(sensorValues);
-
- // print the sensor values as numbers from 0 to 1000, where 0 means maximum
- // reflectance and 1000 means minimum reflectance, followed by the line
- // position
- for (uint8_t i = 0; i < SensorCount; i++)
- {
- Serial.print(sensorValues[i]);
- Serial.print('\t');
- }
- Serial.println(position);
-
- delay(250);
- }
|