Datasheet
Navigating with Infrared Headlights • Chapter 7
Robotics with the BOE Shield-Bot • 233
return ir;
}
3. Replace these digitalRead calls:
byte wLeft = digitalRead(5);
byte wRight = digitalRead(7);
4. …with these calls to irDetect:
int irLeft = irDetect(9, 10, 38000);
int irRight = irDetect(2, 3, 38000);
5. Replace all instances of wLeft with irLeft and wRight with irRight.
6. Update the
/*…*/ and // comments.
Example Sketch – RoamingWithIr
Open RoamingWithWhiskers.
Save it as RoamingWithIr.
Modify it so that it matches the sketch below.
Save the sketch and run it on the Arduino.
Disconnect the BOE Shield-Bot from its programming cable.
Reconnect the battery pack and move the 3-position switch to position 2.
Place your BOE Shield-Bot somewhere where it can roam and avoid obstacles.
Verify that it behaves like RoamingWithWhiskers (aside from the fact that there’s
no contact required).
/*
* Robotics with the BOE Shield - RoamingWithIr
* Adaptation of RoamingWithWhiskers with IR object detection instead of
* contact switches.
*/
#include <Servo.h> // Include servo library
Servo servoLeft; // Declare left and right servos
Servo servoRight;
void setup() // Built-in initialization block
{
pinMode(10, INPUT); pinMode(9, OUTPUT); // Left IR LED & Receiver
pinMode(3, INPUT); pinMode(2, OUTPUT); // Right IR LED & Receiver