Initial commit

Author: BloopingMinotaur

.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto

Control_Build_1/Control_Build_1.ino

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+// Right motor pin assignments
+int pwmR = 3;
+const int L1 = 5;
+const int L2 = 6;
+
+// Left motor pin assignments
+int pwmL = 11;
+const int R1 = 9;
+const int R2 = 10;
+
+//Joystick Pin assignments
+#define joyX A0
+#define joyY A1
+
+// initializing the variable width and length for the rectangular path
+int width_counter = 0;
+int length_counter = 0;
+
+// Variables that control the dimensions of the rectangle path
+int length = 2;
+int width = 2;
+
+// Variables that control the radius of the circle.
+float radius = 1.5;
+
+// Functions to control motor output
+
+// 1 means backward
+// 0 means stop
+// -1 means forward
+void motorR(int speed, int direction) {
+  analogWrite(pwmR, speed);
+
+  if (direction == -1) {
+    digitalWrite(R1, HIGH);
+    digitalWrite(R2, LOW);
+  } else if (direction == 1) {
+    digitalWrite(R1, LOW);
+    digitalWrite(R2, HIGH);
+  } else if (direction == 0) {
+    digitalWrite(R1, LOW);
+    digitalWrite(R2, LOW);
+  }
+}
+
+void motorL(int speed, int direction) {
+  analogWrite(pwmL, speed);
+
+  if (direction == -1) {
+    digitalWrite(L1, LOW);
+    digitalWrite(L2, HIGH);
+  } else if (direction == 1) {
+    digitalWrite(L1, HIGH);
+    digitalWrite(L2, LOW);
+  } else if (direction == 0) {
+    digitalWrite(L1, LOW);
+    digitalWrite(L2, LOW);
+  }
+}
+
+void path_rectangle(int width, int length) {
+  for (int i = 0; i < 5; i++) { // completes 1/2 of the rectangle six times to make three complete loops
+    goforward(length);
+    stop();
+    turnleft();
+    stop();
+    goforward(width);
+    stop();
+    turnleft();
+    stop();
+  }
+}
+
+void path_circle(float radius){
+  int pwmL = 150;
+  int pwmR = pwmL*radius;
+  motorR(pwmR, -1);
+  motorL(pwmL, -1);
+}
+
+void goforward(int distance) {
+  int pwmR = 150;
+  int pwmL = 150;
+  motorR(pwmR, -1);
+  motorL(pwmL, -1);
+  delay(distance * 1000);
+}
+
+void turnleft() {
+  int pwm = 150;
+  motorR(pwm, -1);
+  motorL(pwm, 0);
+  delay(1000);
+}
+
+void stop() {
+  motorR(0, 0);
+  motorL(0, 0);
+  delay(500);
+}
+
+void setup() {
+  Serial.begin(115200);
+
+  pinMode(pwmL, OUTPUT);  //sets the left motor pin as a PWM output
+  pinMode(L1, OUTPUT);    // sets the logic pins for motor 1
+  pinMode(L2, OUTPUT);
+
+  pinMode(pwmR, OUTPUT);  //sets the right motor pin as a PWM output
+  pinMode(R1, OUTPUT);    // sets the logic pins for motor 2
+  pinMode(R2, OUTPUT);
+}
+
+void loop() {
+  path_rectangle(width, length);
+  path_circle(radius);
+  //function for parellel parking
+}