Agile Robotics Final Project: Weeks 2 & 3

This was due a week or so ago but I haven't spent a significant amount of time on the robot as life has been preoccupying me.

Some updates:

• Got the main "tracking rail" for the bed edge built and programmed to return
• Began working on the actual following of the bed edge

Wiring:

In this photo, the connections between the servo and sensors are given. The push button and limit switch are connected to a "pull-up" resistor. The connections have been rearranged for organization in the past week.

Code: (uncommented)

#include <Servo.h>


 int val;
 int encoder0PinA = 12;
 int encoder0PinB = 13;
 int encoder0Pos = 0;
 int encoder0PinALast = LOW;
 int n = LOW;
 Servo finderServo;

 int stopButton = 4;
 int resetButton = 3;
 int stopButtonValue = 0;
 int resetButtonValue = 0;


 int encoderRead()
 {
    n = digitalRead(encoder0PinA);
   if ((encoder0PinALast == LOW) && (n == HIGH)) {
     if (digitalRead(encoder0PinB) == LOW) {
       encoder0Pos--;
     } else {
       encoder0Pos++;
     }
     Serial.println (encoder0Pos);
   }
   encoder0PinALast = n;
 }

 void armIn()
 {
   finderServo.write(0);
 }

 void armOut()
 {
   finderServo.write(180);
 }

 void armStop()
 {
   finderServo.write(90);
 }

 void armReturn()
 {
   while(stopButtonValue == 0)
   {
     stopButtonValue = digitalRead(stopButton);
     armIn();
   }
   armStop();
   Serial.print("StopButton Value =");
   Serial.println(stopButtonValue);
 }

 void setup() {
   pinMode (encoder0PinA,INPUT);
   pinMode (encoder0PinB,INPUT);
   Serial.begin (9600);
   finderServo.attach(9);
   pinMode (resetButton, INPUT);
   pinMode (stopButton, INPUT);
 }

 void loop()
 {
 
   while(resetButtonValue == 0)
   {
     resetButtonValue = digitalRead(resetButton);
     armStop();
     Serial.print("ResetButton Value = ");
     Serial.println(resetButtonValue);
     delay(50);
   }
 
   while (stopButtonValue == 0)
   {
     stopButtonValue == digitalRead(stopButton);
     armReturn();
     Serial.print("ResetButton Value = ");
     Serial.println(resetButtonValue);
     delay(50);
   }
 
   encoderRead();
 
   if(encoder0Pos < 150)
   {
    armOut();
   }
 
  if(encoder0Pos > 150)
   {
    armStop();
   }
 } 

Issues:

No significant issues have come about other than a minor encoder issue with getting it to read properly but this was resolved.