Adds Cliff's bluebot Arduino code.

arduino/bluebot/bluebot.ino

@@ -0,0 +1,303 @@
+//BlueBot V1.0
+//2017.05.03
+//Clifton C. Craig
+
+#include <Servo.h> //servo library
+#define send
+
+Servo myservo; // create servo object to control servo
+char getstr;
+int AUTONOMOUS = 1;
+int MANUAL = 0;
+int state = 0;
+int Echo = A4;  
+int Trig = A5; 
+//Right wheel
+int ENA = 11;
+int in1 = 9;
+int in2 = 8;
+
+//Left wheel
+int ENB = 5;
+int in3 = 7;
+int in4 = 6;
+
+int ABS = 140;
+int rightDistance = 0,leftDistance = 0,middleDistance = 0;
+int THRESHOLD = 30;
+
+void _mForward()
+{
+ analogWrite(ENA,ABS);
+ analogWrite(ENB,ABS);
+ digitalWrite(in1,LOW);
+ digitalWrite(in2,HIGH);
+ digitalWrite(in3,LOW);
+ digitalWrite(in4,HIGH);
+ Serial.println("go forward!");
+}
+
+void _mBack()
+{
+ analogWrite(ENA,ABS);
+ analogWrite(ENB,ABS);
+ digitalWrite(in1,HIGH);
+ digitalWrite(in2,LOW);
+ digitalWrite(in3,HIGH);
+ digitalWrite(in4,LOW);
+ Serial.println("go back!");
+}
+
+void _mleft()
+{
+ analogWrite(ENA,255);
+ analogWrite(ENB,255);
+ digitalWrite(in1,LOW);
+ digitalWrite(in2,HIGH);
+ digitalWrite(in3,HIGH);
+ digitalWrite(in4,LOW);
+ Serial.println("go left!");
+}
+
+void _mright()
+{
+ analogWrite(ENA,255);
+ analogWrite(ENB,255);
+ digitalWrite(in1,HIGH);
+ digitalWrite(in2,LOW);
+ digitalWrite(in3,LOW);
+ digitalWrite(in4,HIGH);
+ Serial.println("go right!");
+} 
+void _mStop()
+{
+  digitalWrite(ENA,LOW);
+  digitalWrite(ENB,LOW);
+  Serial.println("Stop!");
+} 
+ /*Ultrasonic distance measurement Sub function*/
+int Distance_test()   
+{
+  delay(90);
+  digitalWrite(Trig, LOW);   
+  delayMicroseconds(2);
+  digitalWrite(Trig, HIGH);  
+  delayMicroseconds(30);
+  digitalWrite(Trig, LOW);   
+  float Fdistance = pulseIn(Echo, HIGH);  
+  Fdistance= Fdistance/58;       
+  return (int)Fdistance;
+}  
+
+void setup() 
+{ 
+  myservo.attach(3);// attach servo on pin 3 to servo object
+  Serial.begin(9600);     
+  pinMode(Echo, INPUT);    
+  pinMode(Trig, OUTPUT);  
+  pinMode(in1,OUTPUT);
+  pinMode(in2,OUTPUT);
+  pinMode(in3,OUTPUT);
+  pinMode(in4,OUTPUT);
+  pinMode(ENA,OUTPUT);
+  pinMode(ENB,OUTPUT);
+  _mStop();
+  lookAhead();
+  #ifdef debug
+  debug();
+  #endif
+}
+
+int lookNScan(int pos)
+{
+    myservo.write(pos);//setservo position according to scaled value
+    delay(500); 
+    return Distance_test();
+}
+
+void lookAhead()
+{
+    //setservo position according to scaled value
+    middleDistance = lookNScan(90);
+    #ifdef send
+    Serial.print("middleDistance=");
+    Serial.println(middleDistance);
+    #endif
+}
+
+int lookOffRight()
+{
+      int offRight = lookNScan(65);
+
+      #ifdef send
+      Serial.print("offRight=");
+      Serial.println(offRight);
+      #endif
+      return offRight;
+}
+
+int lookOffLeft()
+{
+      int offLeft = lookNScan(115);
+
+      #ifdef send
+      Serial.print("offLeft=");
+      Serial.println(offLeft);
+      #endif
+      return offLeft;
+}
+
+void loop()
+{ 
+  getstr=Serial.read();
+  if(getstr=='A') {
+    stateChange();
+  } else if(state == AUTONOMOUS) {
+    autonomous();
+  } else if(state == MANUAL) {
+    processCmd();
+  }
+
+}
+
+void processCmd()
+{
+ int distance = Distance_test();
+ Serial.println("Distance " + distance);
+ if(getstr=='f')
+  {
+    _mForward();
+  }
+  else if(getstr=='b')
+  {
+    _mBack();
+    delay(200);
+  }
+  else if(getstr=='l')
+  {
+    _mleft();
+    delay(200);
+  }
+  else if(getstr=='r')
+  {
+    _mright();
+    delay(200);
+  }
+  else if(getstr=='s')
+  {
+     _mStop();     
+  }
+}
+
+void stateChange()
+{
+  if(state == MANUAL)
+    state = AUTONOMOUS;
+  else if(state == AUTONOMOUS)
+    state = MANUAL;
+}
+
+bool scanArea()
+{
+    lookAhead();
+    int r = lookOffRight();
+    int l = lookOffLeft();
+
+    Serial.print("offRight=");
+    Serial.print(r);
+    Serial.print(" offLeft=");
+    Serial.println(l);
+    return middleDistance<=THRESHOLD || l<=THRESHOLD || r<=THRESHOLD;
+}
+
+void autonomous() 
+{
+    bool mightCollide = scanArea();
+    if(mightCollide)
+    {     
+      handleCollision();
+    }  
+    else
+        _mForward();                     
+}
+
+void handleCollision()
+{
+        _mStop();
+      rightDistance = lookNScan(5);
+      delay(1000);      
+
+      #ifdef send
+      Serial.print("rightDistance=");
+      Serial.println(rightDistance);
+      #endif
+
+      leftDistance = lookNScan(180);
+      delay(1000); 
+
+      #ifdef send
+      Serial.print("leftDistance=");
+      Serial.println(leftDistance);
+      #endif
+
+      lookAhead();
+      delay(500);
+      if(rightDistance>leftDistance)  
+      {
+        _mBack();
+        delay(500);
+        _mright();
+        delay(500);
+       }
+       else if(rightDistance<leftDistance)
+       {
+        _mBack();
+        delay(500);
+        _mleft();
+        delay(500);
+       }
+       else if((rightDistance<=THRESHOLD)||(leftDistance<=THRESHOLD))
+       {
+        _mBack();
+        delay(1500);
+       }
+       else
+       {
+        _mForward();
+       }
+}
+
+
+void debug()
+{
+  Serial.print("Debugging! Enter l, r, f, b, or x to exit debug.");
+  int resume = 1;
+  while(resume == 1) {
+    int last = ' ';
+    if(Serial.available() > 0)
+      last = Serial.read();
+     switch(last)
+     {
+      case 'l':
+        _mleft();
+        break;
+      case 'r':
+        _mright();
+        break;
+      case 'f':
+        _mForward();
+        break;
+      case 'b':
+        _mBack();
+        break;
+      case 'x':
+        Serial.print("Done Debugging!");
+        return;
+        break;
+     }
+      delay(500); 
+     _mStop();
+     last = ' ';
+  }
+}
+

build.gradle

@@ -5,9 +5,10 @@ buildscript {
         jcenter{
             url "http://jcenter.bintray.com/"
         }
+        google()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:2.3.3'
+        classpath 'com.android.tools.build:gradle:3.5.0'
 
         // NOTE: Do not place your application dependencies here; they belong
         // in the individual module build.gradle files
@@ -19,6 +20,7 @@ allprojects {
         jcenter{
             url "http://jcenter.bintray.com/"
         }
+        google()
     }
 }
 

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
-#Sun Mar 26 11:49:31 PDT 2017
+#Thu Nov 07 21:48:14 PST 2019
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.3-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.4.1-all.zip