EG1311 B13 T06 (AY24/25 Sem1) Code

EG1311_Final_Project

#include <Servo.h>
int TRIG_PIN = 13;
int ECHO_PIN = 12;
int MOTOR_PIN1 = 5;
int MOTOR_PIN2 = 6;
int SERVO_PIN = 3;
float SPEED_OF_SOUND = 0.0345;
bool is_backward = false;
unsigned long forward_time;
Servo servo;

void setup() {
  // Set all the motor pins to be out
  pinMode(MOTOR_PIN1, OUTPUT);
  pinMode(MOTOR_PIN2, OUTPUT);
  digitalWrite(MOTOR_PIN1, LOW);
  digitalWrite(MOTOR_PIN2, LOW);
  // Initialize forward time
  forward_time = 0;
  // Set servo
  // setup the servo at 0 degrees because otherwise by default, it will be set to 90 degrees.
  // use servo.attach(SERVO_PIN, num1, num2) to set the pulse width for 0 degree and 180 degree seperately
  servo.write(0);
  servo.attach(SERVO_PIN);
  // Set ultrasonic sensor
  pinMode(TRIG_PIN, OUTPUT);
  digitalWrite(TRIG_PIN, LOW);
  pinMode(ECHO_PIN, INPUT);
  Serial.begin(9600);
  Serial.println(is_backward);
}

void loop() {
  // Ultrasonic Sensor
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  int microsecs = pulseIn(ECHO_PIN, HIGH);
  float cms = microsecs * SPEED_OF_SOUND / 2;
  Serial.print("CMS:");
  Serial.println(cms);
  Serial.println(forward_time);
  Serial.println(is_backward);

  // Control Logic
  if (cms < 15 && !is_backward && forward_time >= 200)
  {
    digitalWrite(MOTOR_PIN1, LOW);
    digitalWrite(MOTOR_PIN2, LOW);
    // Wait for 2 seconds
    delay(2000);
    // Shoot the ball
    servo.write(90);
    delay(1000);
    // Move the catapult
    servo.write(0);
    delay(2000);
    is_backward = true;
  }
  else
  {
    // Move Forward
    digitalWrite(MOTOR_PIN1, HIGH);
    digitalWrite(MOTOR_PIN2, LOW);
    forward_time++;
  }
  if (is_backward)
  {
    // Move Backward
    digitalWrite(MOTOR_PIN1, LOW);
    digitalWrite(MOTOR_PIN2, HIGH);
  }
  delay(10);
}

The CAD files and Circuit can be found here