Published September 9, 2019 © GPL3+

$30 Swarm Nodes

The ability to mass produce and create a large scale swarm with interchangeable pieces for a variety of purposes and algorithms.

AdvancedWork in progressOver 2 days739

Things used in this project

Hardware components

Particle Photon

Particle Argon

DC Motor, 12 V

rubber wheel

support wheel/trolley wheel

Infra red obstacle sensor

2 WD Motor Chassis

White cardboard

Solderless Breadboard Half Size

4xAA battery holder

L298N Dual Motor Driver

Jumper wires (generic)

Software apps and online services

Particle Build Web IDE

Hand tools and fabrication machines

Extraction Tool, 6 Piece Screw Extractor & Screwdriver Set

Scissors, Free Fall

Drill / Driver, Cordless

Tape, Double Sided

Story

I've always wanted to make my own swarm however the KiloBots at the retail price of $150 simply was just to expensive. So I decided to go ahead and make my own that not only have interchangeable sensors but also an interchangeable wheel base to let me truely test and develop some cool algorithms I make.

Code

// This #include statement was automatically added by the Particle IDE.
#include <google-maps-device-locator.h>
#include <stdio.h>
#include <stdlib.h>


GoogleMapsDeviceLocator locator;

SerialLogHandler logHandler;
//----------------

int NodeLeftS1;
int NodeLeftS2;
int NodeLeftS3;
int NodeLeftS4;


int NodeRightS1;
int NodeRightS2;
int NodeRightS3;
int NodeRightS4;





//Motor A
int IN1 = D7;
int IN2 = D6;
int SPEEDPINA = D1;


//Motor B
int IN3 = D5;
int IN4 = D4;
int SPEEDPINB = D0;



//IR Sensors Declaration
int IRSensor1 = A0;

int IRSensor2 = A1;

int IRSensor3 = A2;

int IRSensor4 = A3;

//IR Sensor Read (Count)

int Sensor1;
int Sensor2;
int Sensor3;
int Sensor4;

void setup()
{
    //MOTORS
    pinMode(IN1, OUTPUT);
    pinMode(IN2, OUTPUT);
    pinMode(IN3, OUTPUT);
    pinMode(IN4, OUTPUT);
    pinMode(SPEEDPINA, OUTPUT);
    pinMode(SPEEDPINB, OUTPUT);
    
    
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, HIGH);

    //IR Sensors
    pinMode(IRSensor1, INPUT);
    pinMode(IRSensor2, INPUT);
    pinMode(IRSensor3, INPUT);
    pinMode(IRSensor4, INPUT);
    
    
    Particle.subscribe("LS1NoObject", loop2);
    
    //Particle.subscribe("LS1NoObject", loop2);
    
    Particle.subscribe("LS2NoObject", loop2);
    
    
    //Google Maps
    
    
    Serial.begin(9600);
    
    //Particle.publish("test2", "This is a test");
    
    

    //locator.withLocatePeriodic(30);
    
    
}

//Try adding both within the loop here
void loop()
{
    //Try analog Read Tommorow if this still does not work
    Sensor1 = digitalRead(IRSensor1);
    Sensor2 = digitalRead(IRSensor2);
    Sensor3 = digitalRead(IRSensor3);
    Sensor4 = digitalRead(IRSensor4);
    
    //char Sensor1Str[30];
    //sprintf(Sensor1Str,"%d", Sensor1);
    //Particle.publish("LeaderSensor1", Sensor1Str, 21600, PUBLIC);
    
    if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 1)
        {
            Particle.publish("Should be going", PUBLIC);
            //Particle.publish("Swarm Mates Found", PUBLIC);
            
            digitalWrite(IN2, LOW);
            digitalWrite(IN1, HIGH);
        
            analogWrite(SPEEDPINA, 255);
        
            digitalWrite(IN4, LOW);
            digitalWrite(IN3, HIGH);
        
            analogWrite(SPEEDPINB, 255);
        }
    else
    {
        StopAll();
        
    }
    //Object Detected on sensor 1
    //if (Sensor1 == 0)
    //{
    //    Particle.publish("LeaderS1", "Object", 60, PRIVATE);
    //    delay(1);
    //}
    
    
    //if (Sensor2 == 0)
    //{
    //    Particle.publish("LeaderS2", "Object", 60, PRIVATE);
    //    delay(1);
    //}
    
    
    if (Sensor1 == 0)
    {
        Particle.publish("LeaderS1", "Object");
        delay(3000);
    }
    if (Sensor1 == 1)
    {
        Particle.publish("LeaderS1NoObject", "NoObject");
        delay(3000);
    }
    
    
    if (Sensor3 == 0)
    {
        Particle.publish("LeaderS3", "Object");
        delay(3000);
    }
    if (Sensor3 == 1)
    {
        Particle.publish("LeaderS3NoObject", "NoObject");
        delay(3000);
    }
    
    
    //if (Sensor4 == 0)
    //{
    //    Particle.publish("LeaderS4", "Object", 60, PRIVATE);
    //    delay(1);
    //}
    
    
  // get here if event publish did not work
}
    
    
    /*digitalWrite(IN2, LOW);
    digitalWrite(IN1, HIGH);
        
    analogWrite(SPEEDPINA, 255);
        
    digitalWrite(IN4, LOW);
    digitalWrite(IN3, HIGH);
        
    analogWrite(SPEEDPINB, 255);*/


void StopAll()
{
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, LOW);
    
    analogWrite(SPEEDPINA, 100);
    analogWrite(SPEEDPINB, 100);
    
    
}

void loop2(const char *event, const char *data)
{
    
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, LOW);
    /*if (Sensor1 == 0)
    {
        Particle.publish("LeaderS1", "Object");
        delay(3000);
    }
    if (Sensor1 == 1)
    {
        Particle.publish("LeaderS1NoObject", "NoObject");
        delay(3000);
    }
    
    
    if (Sensor3 == 0)
    {
        Particle.publish("LeaderS3", "Object");
        delay(3000);
    }
    if (Sensor3 == 1)
    {
        Particle.publish("LeaderS3NoObject", "NoObject");
        delay(3000);
    }*/
    
    StopAll();
}


/*void SensorTest()
{
    if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("No Object", PUBLIC);
            
            digitalWrite(IN1, HIGH);
            digitalWrite(IN2, LOW);
            analogWrite(SPEEDPINA, 150);
            delay(2000);
            digitalWrite(IN1, LOW);
            digitalWrite(IN2, LOW);
        }

    //<<<<<<<<<<<<<<<<<<<Object Detected on 4 Sensors>>>>>>>>>>>>>>>>>>>>>>>>>>>
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on All Sensors 1,2,3,4" , PUBLIC);
    }
    //<<<<<<<<<<<<<<<<<<<<Object Detected on Three Sensors >>>>>>>>>>>>>>>>>>>>>
    
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1,2,3" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 4)
    {
        Particle.publish("Object detected on Sensor 1,2,4" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 1,3,4" , PUBLIC);
    }
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 2,3,4" , PUBLIC);
    }
    
    
    
    //<<<<<<<<<<<<<<<<<<<<<<Object Detected on two sensors>>>>>>>>>>>>>>>>>>>>>>>>
    
    
    //Sensor 1
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1 and 2" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1 and 3" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 1 and 4" , PUBLIC);
    }
    
    
    //Sensor 2
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 2 and 3" , PUBLIC);
    }
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 2 and 4" , PUBLIC);
    }
    
    //Sensor 3
    
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 3 and 4" , PUBLIC);
    }
    
    //<<<<<<<<<<<<<<<<<<<<<Object Detected on Single Sensor>>>>>>>>>>>>>>>>>>>>>>>
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 1", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 2", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 3", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 4)
        {
            Particle.publish("Object detected on sensor 4", PUBLIC);
        }
}


void SensorFinder()
{
    if (Sensor1 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor1 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    //Object go
    //Sensor 2
    if (Sensor2 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor2 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    
    //Sensor3
    if (Sensor3 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor3 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    //Sensor 4
    if (Sensor4 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor4 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
}
*/

//Device ID - 270035000147373336323230
//Accesss Token - bee763562c709a8cec07705008beb1e4f8372e38

// This #include statement was automatically added by the Particle IDE.
#include <google-maps-device-locator.h>

GoogleMapsDeviceLocator locator;

SerialLogHandler logHandler;
//----------------

//Motor A




int IN1 = D7;
int IN2 = D6;
int SPEEDPINA = D1;


//Motor B
int IN3 = D5;
int IN4 = D4;
int SPEEDPINB = D0;


//IR Sensors Declaration
int IRSensor1 = A0;

int IRSensor2 = A1;

int IRSensor3 = A2;

int IRSensor4 = A3;

//IR Sensor Read (Count)

int Sensor1;
int Sensor2;
int Sensor3;
int Sensor4;




void setup()
{
    
    //MOTORS
    pinMode(IN1, OUTPUT);
    pinMode(IN2, OUTPUT);
    pinMode(IN3, OUTPUT);
    pinMode(IN4, OUTPUT);
    pinMode(SPEEDPINA, OUTPUT);
    pinMode(SPEEDPINB, OUTPUT);
    
    
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, HIGH);

    //IR Sensors
    pinMode(IRSensor1, INPUT);
    pinMode(IRSensor2, INPUT);
    pinMode(IRSensor3, INPUT);
    pinMode(IRSensor4, INPUT);
    
    
    
    //Google Maps
    
    Particle.subscribe("LeaderS3", loop);
    Particle.subscribe("LeaderS3NoObject", loop2);
    Serial.begin(9600);
    
    
    

    //locator.withLocatePeriodic(30);
    
    
}


//void loop(const char *event, const char *data)
void loop(const char *event, const char *data)
{
    //Try analog Read Tommorow if this still does not work
    Sensor1 = digitalRead(IRSensor1);
    Sensor2 = digitalRead(IRSensor2);
    Sensor3 = digitalRead(IRSensor3);
    Sensor4 = digitalRead(IRSensor4);
    
    //Particle.publish(event, "This is a test");
   // const char LS1 = LeaderS1(char *event,char *LS1);
    //const char LeaderSensor1 = LS1;
    
    //char Sensor1Str[30];
    //sprintf(Sensor1Str,"%d", Sensor1);
    //Particle.publish("LeaderSensor1", Sensor1Str, 21600, PUBLIC);
    
    if (Sensor1 == 0)
    {
        Particle.publish("LS1", "Obect");
        delay(3000);
    }
    if (Sensor1 == 1)
    {
        Particle.publish("LS1NoObject", "Obect");
        delay(3000);
    }
    
    if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 1)
        {
            //Particle.publish("Swarm Mates Found", PUBLIC);
            
            digitalWrite(IN2, LOW);
            digitalWrite(IN1, HIGH);
        
            analogWrite(SPEEDPINA, 255);
        
            digitalWrite(IN4, LOW);
            digitalWrite(IN3, HIGH);
        
            analogWrite(SPEEDPINB, 255);
        }
    else
    {
        StopAll();
        
    }
}

void loop2(const char *event, const char *data)
{
    /*if (Sensor1 == 0)
    {
        Particle.publish("LS1", "Obect");
        delay(3000);
    }
    if (Sensor1 == 1)
    {
        Particle.publish("LS1NoObject", "Obect");
        delay(3000);
    }*/
    
    StopAll();
}

void StopAll()
{
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, LOW);
    
    analogWrite(SPEEDPINA, 100);
    analogWrite(SPEEDPINB, 100);
    
    
}

/*void myHandler(const char *event, const char *data)
{
  int i = 0;
  i++;
  Serial.print(i);
  Serial.print(event);
  Serial.print(", data: ");
  if (data)
  {
    Serial.println(data);
    Particle.publish("Leader", "This is a test");
  }
}
*/

/*void SensorTest()
{
    if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("No Object", PUBLIC);
            
            digitalWrite(IN1, HIGH);
            digitalWrite(IN2, LOW);
            analogWrite(SPEEDPINA, 150);
            delay(2000);
            digitalWrite(IN1, LOW);
            digitalWrite(IN2, LOW);
        }

    //<<<<<<<<<<<<<<<<<<<Object Detected on 4 Sensors>>>>>>>>>>>>>>>>>>>>>>>>>>>
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on All Sensors 1,2,3,4" , PUBLIC);
    }
    //<<<<<<<<<<<<<<<<<<<<Object Detected on Three Sensors >>>>>>>>>>>>>>>>>>>>>
    
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1,2,3" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 4)
    {
        Particle.publish("Object detected on Sensor 1,2,4" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 1,3,4" , PUBLIC);
    }
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 2,3,4" , PUBLIC);
    }
    
    
    
    //<<<<<<<<<<<<<<<<<<<<<<Object Detected on two sensors>>>>>>>>>>>>>>>>>>>>>>>>
    
    
    //Sensor 1
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1 and 2" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1 and 3" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 1 and 4" , PUBLIC);
    }
    
    
    //Sensor 2
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 2 and 3" , PUBLIC);
    }
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 2 and 4" , PUBLIC);
    }
    
    //Sensor 3
    
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 3 and 4" , PUBLIC);
    }
    
    //<<<<<<<<<<<<<<<<<<<<<Object Detected on Single Sensor>>>>>>>>>>>>>>>>>>>>>>>
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 1", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 2", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 3", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 4)
        {
            Particle.publish("Object detected on sensor 4", PUBLIC);
        }
}


void SensorFinder()
{
    if (Sensor1 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor1 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    //Object go
    //Sensor 2
    if (Sensor2 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor2 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    
    //Sensor3
    if (Sensor3 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor3 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    //Sensor 4
    if (Sensor4 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor4 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
}
*/

//Device ID - 270035000147373336323230
//Accesss Token - bee763562c709a8cec07705008beb1e4f8372e38

// This #include statement was automatically added by the Particle IDE.
#include <google-maps-device-locator.h>



GoogleMapsDeviceLocator locator;

SerialLogHandler logHandler;
//----------------

//Motor A
int IN1 = D7;
int IN2 = D6;
int SPEEDPINA = D1;


//Motor B
int IN3 = D5;
int IN4 = D4;
int SPEEDPINB = D0;



//IR Sensors Declaration
int IRSensor1 = A0;

int IRSensor2 = A1;

int IRSensor3 = A2;

int IRSensor4 = A3;

//IR Sensor Read (Count)

int Sensor1;
int Sensor2;
int Sensor3;
int Sensor4;

void setup()
{
    //MOTORS
    pinMode(IN1, OUTPUT);
    pinMode(IN2, OUTPUT);
    pinMode(IN3, OUTPUT);
    pinMode(IN4, OUTPUT);
    pinMode(SPEEDPINA, OUTPUT);
    pinMode(SPEEDPINB, OUTPUT);
    
    
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, HIGH);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, HIGH);

    //IR Sensors
    pinMode(IRSensor1, INPUT);
    pinMode(IRSensor2, INPUT);
    pinMode(IRSensor3, INPUT);
    pinMode(IRSensor4, INPUT);
    
    
    //Google Maps
    Particle.subscribe("LeaderS1", loop);
    Particle.subscribe("LeaderS1NoObject", loop2);
    //Particle.subscribe("LeaderSensor1", myHandler, ALL_DEVICES);
    Serial.begin(9600);
    
    
    

    //locator.withLocatePeriodic(30);
    
    
}


void loop(const char *event, const char *data)
{
    //Try analog Read Tommorow if this still does not work
    Sensor1 = digitalRead(IRSensor1);
    Sensor2 = digitalRead(IRSensor2);
    Sensor3 = digitalRead(IRSensor3);
    Sensor4 = digitalRead(IRSensor4);
    
    if (Sensor3 == 1)
    {
        Particle.publish("RS3NoObject", "NoObject");
        delay(3000);
    }
    
    
    
    if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 1)
        {
            //Particle.publish("Swarm Mates Found", PUBLIC);
            
            digitalWrite(IN2, LOW);
            digitalWrite(IN1, HIGH);
        
            analogWrite(SPEEDPINA, 255);
        
            digitalWrite(IN4, LOW);
            digitalWrite(IN3, HIGH);
        
            analogWrite(SPEEDPINB, 255);
        }
    else
    {
        StopAll();
        
    }
}

void loop2(const char *event, const char *data)
{
    StopAll();
}

void StopAll()
{
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, LOW);
    
    analogWrite(SPEEDPINA, 100);
    analogWrite(SPEEDPINB, 100);
    
    
}


/*void SensorTest()
{
    if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("No Object", PUBLIC);
            
            digitalWrite(IN1, HIGH);
            digitalWrite(IN2, LOW);
            analogWrite(SPEEDPINA, 150);
            delay(2000);
            digitalWrite(IN1, LOW);
            digitalWrite(IN2, LOW);
        }

    //<<<<<<<<<<<<<<<<<<<Object Detected on 4 Sensors>>>>>>>>>>>>>>>>>>>>>>>>>>>
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on All Sensors 1,2,3,4" , PUBLIC);
    }
    //<<<<<<<<<<<<<<<<<<<<Object Detected on Three Sensors >>>>>>>>>>>>>>>>>>>>>
    
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1,2,3" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 4)
    {
        Particle.publish("Object detected on Sensor 1,2,4" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 1,3,4" , PUBLIC);
    }
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 2,3,4" , PUBLIC);
    }
    
    
    
    //<<<<<<<<<<<<<<<<<<<<<<Object Detected on two sensors>>>>>>>>>>>>>>>>>>>>>>>>
    
    
    //Sensor 1
    
    else if (Sensor1 == 0 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1 and 2" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 1 and 3" , PUBLIC);
    }
    
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 1 and 4" , PUBLIC);
    }
    
    
    //Sensor 2
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 0 && Sensor4 == 1)
    {
        Particle.publish("Object detected on Sensor 2 and 3" , PUBLIC);
    }
    
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 2 and 4" , PUBLIC);
    }
    
    //Sensor 3
    
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 0)
    {
        Particle.publish("Object detected on Sensor 3 and 4" , PUBLIC);
    }
    
    //<<<<<<<<<<<<<<<<<<<<<Object Detected on Single Sensor>>>>>>>>>>>>>>>>>>>>>>>
    else if (Sensor1 == 0 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 1", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 0 && Sensor3 == 1 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 2", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 0 && Sensor4 == 1)
        {
            Particle.publish("Object detected on sensor 3", PUBLIC);
        }
        
    else if (Sensor1 == 1 && Sensor2 == 1 && Sensor3 == 1 && Sensor4 == 4)
        {
            Particle.publish("Object detected on sensor 4", PUBLIC);
        }
}


void SensorFinder()
{
    if (Sensor1 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor1 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    //Object go
    //Sensor 2
    if (Sensor2 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor2 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    
    //Sensor3
    if (Sensor3 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor3 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
    
    //Sensor 4
    if (Sensor4 == 0)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, HIGH);
        
        analogWrite(SPEEDPINA, 150);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, HIGH);
        
        analogWrite(SPEEDPINB, 150);
    }
    
    //Nothing dont go
    if (Sensor4 == 1)
    {
        digitalWrite(IN2, LOW);
        digitalWrite(IN1, LOW);
        
        digitalWrite(IN4, LOW);
        digitalWrite(IN3, LOW);
    }
}
*/

//Device ID - 270035000147373336323230
//Accesss Token - bee763562c709a8cec07705008beb1e4f8372e38

Credits

Goody599

2 projects • 1 follower

$30 Swarm Nodes

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Software apps and online services

Hand tools and fabrication machines

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Credits

Goody599

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Embed the widget on your own site

$30 Swarm Nodes

$30 Swarm Nodes

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Schematics

Project Artefact

Code

Leader Code

Left Node Code

Right Node Code

Credits

Goody599

Comments

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