Sumo Robot League's Mini Robot Kit

The Arduino IDE on a computer

A trainer and the training slides

Screwdriver, philips

Four AA batteries

The rules of Sumo Robot competition

How to build a sumo robot

How to code your robot (using pre-written functions) to blink the LED, attack objects, and compete Sumo style

Basic troubleshooting

/*// use these if your circuitboard is red
#define pingPin 3
#define echoPin A0
#define leftSensor A1
#define rightSensor A2
#define buttonPin 2
#define leftDirection 4
#define buzzerPin 5
#define IREmitter 6
#define LED 7
#define rightDirection 8
#define leftMotorSpeed 9
#define rightMotorSpeed 10
//*/

// use these if your circuitboard is black
#define pingPin 10
#define echoPin A0
#define leftSensor A1
#define rightSensor A2
#define rearSensor A3
#define buttonPin 2
#define buzzerPin 3
#define IREmitter 4
#define leftMotorSpeed 5
#define rightMotorSpeed 6
#define leftDirection 7
#define rightDirection 8
#define LED 13
//*/

bool leftIsFlipped = false;  //If the left motor goes backwards when it is supposed to go forwards set to true
bool rightIsFlipped = true;  
int lBlack = 1000; int rBlack = 1000;
int lWhite = 200; int rWhite = 200;

void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
pinMode(pingPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(leftDirection, OUTPUT);
pinMode(rightDirection, OUTPUT);
pinMode(leftMotorSpeed, OUTPUT);
pinMode(rightMotorSpeed, OUTPUT);
pinMode(leftSensor, INPUT);
pinMode(rightSensor, INPUT);
pinMode(IREmitter, OUTPUT);
pinMode(buttonPin, INPUT_PULLUP);
//calibrateBlackWhite();
}

void loop() {
// put your main code here, to run repeatedly

}


// below here are the functions to help you get up and running fast.Feel free to look around but making changes could break your code.

void drive(int x) {
// map converts [-100,100] to [-255,255]
int spd = map(x, -100, 100, -255, 255);
setSpeeed(spd, 0);
setSpeeed(spd, 1);
}

void setSpeeed(int sped, int motor) {
int speedPin, directionPin;
bool flippedPin;
if ( motor == 0 ) {
speedPin = leftMotorSpeed;
directionPin = leftDirection;
flippedPin = leftIsFlipped;
} else if ( motor == 1 ) {
speedPin = rightMotorSpeed;
directionPin = rightDirection;
flippedPin = rightIsFlipped;
}

if ( sped == 0 ) {
analogWrite(speedPin, 0);
digitalWrite(directionPin, LOW);
} else if ( (sped > 0 && !flippedPin) || (sped < 0 && flippedPin) ) {
digitalWrite(directionPin, HIGH);
analogWrite(speedPin, abs(sped));
} else if ( (sped < 0 && !flippedPin) || (sped > 0 && flippedPin) ) {
digitalWrite(directionPin, LOW);
analogWrite(speedPin, abs(sped));
}
}

void turnDegrees(double y) {
bool lWheel = 0;
bool rWheel = 0;

if (y > 0) {
lWheel = 0;
rWheel = 1;
if (leftIsFlipped) {
lWheel = 1;
}
if (rightIsFlipped) {
rWheel = 0;
}
digitalWrite(leftDirection, lWheel); analogWrite(leftMotorSpeed, 255);
digitalWrite(rightDirection, rWheel);analogWrite(rightMotorSpeed, 255);
delay(y * 6.21111);
analogWrite(leftMotorSpeed, 0);
analogWrite(rightMotorSpeed, 0);
} else if (y < 0) {
lWheel = 1;
rWheel = 0;
if (leftIsFlipped) {
lWheel = 0;
}
if (rightIsFlipped) {
rWheel = 1;
}
digitalWrite(leftDirection, lWheel);analogWrite(leftMotorSpeed, 255);
digitalWrite(rightDirection, rWheel); analogWrite(rightMotorSpeed, 255);
delay(abs(y * 6.21111));
analogWrite(leftMotorSpeed, 0);
analogWrite(rightMotorSpeed, 0);
} else Serial.println("0 degree turn");
}

boolean objectWithin(int cm) {
return getDistance() < cm;
}

int getDistance() {
long duration;
int distance;
digitalWrite(pingPin, LOW);// Added this line
delayMicroseconds(2); // Added this line
digitalWrite(pingPin, HIGH);
delayMicroseconds(10); // Added this line
digitalWrite(pingPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (int) ( (duration / 2) / 29.1 );
return distance;
}

//returns true if either front IR sensor detects white
//uses the thresholds for the left and right front IR sensors that 
//are calculated via the calibrateBlackWhite function
boolean isWhite(){
digitalWrite(IREmitter, HIGH);
int left = analogRead(leftSensor);
Serial.print("left: ");Serial.println(left);
int right = analogRead(rightSensor);
Serial.print("right: "); Serial.println(right);
digitalWrite(IREmitter, LOW);

int lThresh = (lWhite + ((lBlack - lWhite) / 2));
Serial.print("lThresh: "); Serial.println(lThresh);
int rThresh = (rWhite + ((rBlack - rWhite) / 2));
Serial.print("rThresh: "); Serial.println(rThresh);

if(left < lThresh || right < rThresh){
return true;
}else return false;
}

//averages 5 black and 5 white IR readings for each front IR sensor
//then calculates the threshold between the balck and white readings
void calibrateBlackWhite(){
int n = 5;
int lBlacks[n]; int rBlacks[n];
int lWhites[n]; int rWhites[n];

Serial.println("place front sensors on black and press button");
while(digitalRead(buttonPin) == 1){
delay(100);
}

digitalWrite(IREmitter, HIGH);
for (int i = 0; i < n; i++){
lBlacks[i] = analogRead(leftSensor);
rBlacks[i] = analogRead(rightSensor);
Serial.print("lBlacks: ");
Serial.print(lBlacks[i]);
Serial.print(" rBlacks: ");
Serial.println(rBlacks[i]);
}
digitalWrite(IREmitter, LOW);

Serial.println("place front sensors on white and press button");
delay(1000);
while(digitalRead(buttonPin) == 1){
delay(100);
}

digitalWrite(IREmitter, HIGH);
for (int i = 0; i < n; i++){
lWhites[i] = analogRead(leftSensor);
rWhites[i] = analogRead(rightSensor);
Serial.print("lWhites: ");
Serial.print(lWhites[i]);
Serial.print(" rWhites: ");
Serial.println(rWhites[i]);
}
digitalWrite(IREmitter, LOW);

for (int i = 0; i < n; i++){
lBlack += lBlacks[i];
rBlack += rBlacks[i];
lWhite += lWhites[i];
rWhite += rWhites[i];
}
lBlack = lBlack / n; rBlack = rBlack / n;
lWhite = lWhite / n; rWhite = rWhite / n;
Serial.print("average of left blacks: "); Serial.println(lBlack);
Serial.print("average of right blacks: ");Serial.println(rBlack);
Serial.print("average of left whites: "); Serial.println(lWhite);
Serial.print("average of right whites: ");Serial.println(rWhite);

delay(1000);
}