Datasheet

Tactile Navigation with Whiskers • Chapter 5
Robotics with the BOE Shield-Bot • 157
void setup() // Built-in initialization block
{
pinMode(7, INPUT); // Set right whisker pin to input
pinMode(5, INPUT); // Set left whisker pin to input
pinMode(8, OUTPUT); // Left LED indicator -> output
pinMode(2, OUTPUT); // Right LED indicator -> output
tone(4, 3000, 1000); // Play tone for 1 second
delay(1000); // Delay to finish tone
Serial.begin(9600); // Set serial data rate to 9600
}
void loop() // Main loop auto-repeats
{
byte wLeft = digitalRead(5); // Copy left result to wLeft
byte wRight = digitalRead(7); // Copy right result to wRight
if(wLeft == 0) // If left whisker contact
{
digitalWrite(8, HIGH); // Left LED on
}
else // If no left whisker contact
{
digitalWrite(8, LOW); // Left LED off
}
if(wRight == 0) // If right whisker contact
{
digitalWrite(2, HIGH); // Right LED on
}
else // If no right whisker contact
{
digitalWrite(2, LOW); // Right LED off
}
Serial.print(wLeft); // Display wLeft
Serial.println(wRight); // Display wRight
delay(50); // Pause for 50 ms
}
Activity 3: Navigation with Whiskers
Previously, our sketches only made the BOE Shield-Bot execute a list of movements
predefined by you, the programmer. Now that you can write a sketch to make the Arduino
monitor whisker switches and trigger action in response, you can also write a sketch that
lets the BOE Shield-Bot drive and select its own maneuver if it bumps into something. This is
an example of autonomous robot navigation.