We have a little bit of work to do here... Sharp IR sensor output can be a little inconsistent from time to time.

Let's start by installing the Arduino SharpIR library or SharpIR by guillaume-rico. And then... check out the great article on linearizing Sharp distance sensor data

Here's a sample of how to drive the Sandblaster based on data from either the Sharp GP2Y0A02YK0F or GP2Y0A21YK distance sensor.

Servo and sensor connections are documented in-line.

      #include <Adafruit_SoftServo.h>
#include <SharpIR.h>

#define ir A0
#define model 1080

Adafruit_SoftServo servo_rght;  // right wheel
Adafruit_SoftServo servo_left;  // left wheel
Adafruit_SoftServo servo_strr;  // steering

SharpIR sharp(ir, 30, 50, model);

unsigned long tme = 0;   // the last time we processed a distance check
unsigned long slc = 250; // milliseconds between distance checks
unsigned long ms = 0;    // a millis() time-slice

int dis = 0;  // last measured distance
int thr = 8;  // threshold to trigger reverse

void setup() {

  servo_rght.attach(7); // D7
  servo_left.attach(6); // D6
  servo_strr.attach(5); // D5

  pinMode (ir, INPUT);  // A0
}

void loop() {
  ms = millis();

  // distance samples every 250ms
  if ( tme + slc < ms ) {
    tme = ms;

    dis = sharp.distance();
  }

  // course correction!
  if (dis < thr) {

    // right or left... pick one and step back
    int lor = random(30, 100);
    for (int i = 0; i < 120; i++) {
      if (lor % 2 == 1) {
        servo_strr.write(40);
      } else {
        servo_strr.write(140);
      }
      servo_strr.refresh();
      servo_rght.write(140);
      servo_rght.refresh();
      servo_left.write(40);
      servo_left.refresh();

      delay(15);
    }
  } else {

    // full steam ahead! Although... you could mix a distance
    // calculation into this and steer around obstacles. Just
    // a thought.
    servo_strr.write(90);
    servo_strr.refresh();

    servo_rght.write(40);
    servo_rght.refresh();
    servo_left.write(140);
    servo_left.refresh();

    delay(15);
  }
}
    

Have fun!

This guide was first published on Dec 23, 2015. It was last updated on Dec 23, 2015.

This page (Source Code) was last updated on Sep 08, 2021.

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