sarf2k4 / arduino-robot-line-and-maze

Arduino-Robot-Line-and-Maze

##INTRO This is a code for Arduino Robot that has Line and Maze mode in one sketch. This was primarily used for ROBONEO 2015 and ended up using the v1.0 instead of v1.5, do refer to knwon issues below

##KNOWN ISSUES

• v1.2 onwards has problems where the Maze mode codes disrupts the Line Mode making the robot unable to follow the line properly when it's still in Line Mode
• Only v1.4 are tested without any logics to make the robot do a 90 degree turn on junctions/corners
• Without the turn logics, the robot unable do 90 degree elbow turn properly but it will stay dead center

##CHANGELOGS ###v1.6

• Added button to manually change between Line (UP button) and Maze (DOWN button) Mode
• Uses variable "State" to retain the mode

###v1.5

• Enforced Mode switching to be more stricter
• Added logic on Maze mode
• Turn left are prioritized
• Used Timer Library from https://github.com/JChristensen/Timer to avoid robot turning when detected small hole

###v1.4

• Added " IF (0)" block to quickly disable turn on Maze Mode
• Added new line follow (linef2()) function with PID from arduino LineFollow.cpp library as experimental

###v1.3

• Changed the condition to change to Maze Mode slightly stricter
• Still got bugs

###v1.2

• Added Maze Mode code
• Maze Mode uses separate PID from WIKIPEDIA pesudo
• Maze Mode uses left wall follow mode
• some hitches with Maze Mode disrupting Line Mode (unable to follow line properly)
• Added automatic mode change from Line Mode to Maze Mode with basic conditions

###v1.0

• Added PID algorithm
• Added IF ELSE statement to handle PID
• PID Value optimized for line turn radius of approx. 10 to 20cm

###v0.5

• Added Speed multiplier based on percentage

###v0.1

• Basic line follow codes
• No PID controls