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/* Robot Compass
The robot has an on-board compass module, with
which it can tell the direction the robot is
facing. This sketch will make sure the robot
goes towards a certain direction.
Beware, magnets will interfere with the compass
readings.
Circuit:
* Arduino Robot
created 1 May 2013
by X. Yang
modified 12 May 2013
by D. Cuartielles
This example is in the public domain
*/
// include the robot library
#include <ArduinoRobot.h>
int speedLeft;
int speedRight;
int compassValue;
int direc = 180; //Direction the robot is heading
void setup() {
// initialize the modules
Robot.begin();
Robot.beginTFT();
Robot.beginSD();
Robot.displayLogos();
}
void loop() {
// read the compass orientation
compassValue = Robot.compassRead();
// how many degrees are we off
int diff = compassValue-direc;
// modify degress
if(diff > 180)
diff = -360+diff;
else if(diff < -180)
diff = 360+diff;
// Make the robot turn to its proper orientation
diff = map(diff, -180, 180, -255, 255);
if(diff > 0) {
// keep the right wheel spinning,
// change the speed of the left wheel
speedLeft = 255-diff;
speedRight = 255;
} else {
// keep the right left spinning,
// change the speed of the left wheel
speedLeft = 255;
speedRight = 255+diff;
}
// write out to the motors
Robot.motorsWrite(speedLeft, speedRight);
// draw the orientation on the screen
Robot.drawCompass(compassValue);
}
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