FollowBot

In this part of the lab, you'll adapt your BasicBot and code from the Advanced HC-SR04 (distance sensor) example to build a FollowBot that will follow an object at a target distance (default is 32 cm). 

Components

Adapt your sketch

Adapt the sketch from the Advanced HC-SR04 (distance sensor) example by adding in code from your BasicBot to:

1. declare 2 variables of type Servo

   1. 1. leftServo 

• 1. rightServo

  2. declare 2 variables of type int for your stop values of each servo

  3. leftServoStopValue

  4. rightServoStopValue

  5. declare 2 variables of type int for the pins to control your servos

     1. leftServoPin (assign this the value 9)

     2. rightServoPin (assign this the value 6)

2.  declare and define four methods:

• 1. initServos should initialize both Servo objects

  2. moveForward should move the bot forward

  3. moveBackward should move the bot backward

     1. stopMoving should stop moving the bot

  4. modify your setup to invoke initServos

Additionally:

• 1. declare and define a new method moveBot to

     1. move the bot forward if the distance sensed is over the target; or

     2. move the bot backward if the distance sensed is under the target; or

     3. stop the bot if the distance sensed satisfies the target

  2. modify your loop to invoke moveBot after invoking updateOutput

Test it out!

Being careful to manage your power supply, test out your code. Your bot should follow an object (try a piece of cardboard) at 32cm. If it's too far, the bot should move forward; too close, and the bot should move back.

Submission

Upload your followBot sketch to moodle's Lab 2 - servo motors.