Traffic Sign And Shape Recognition Robot

//Modied By ProfessorHulk
//The One and Only Smasher Tech (TOAOST)
//Install AFMotor.h library before uploading code to Arduino Board
//Install MuVisionSensor.h and Wire.h library before uploading code to Arduino Board



#include <Arduino.h>
#include <MuVisionSensor.h>
#include <Wire.h>
#include <SoftwareSerial.h>
#include <AFMotor.h>

AF_DCMotor M1 (1, MOTOR12_1KHZ);
AF_DCMotor M4 (4, MOTOR34_1KHZ);

/*
 * Choose communication mode define here:
 *    I2C_MODE    : I2C mode, default pin: MU_SDA <==> ARDUINO_SDA, MU_SCL <==> ARDUINO_SCL
 *    SERIAL_MODE : Serial mode, default pin: MU_TX <==> ARDUINO_PIN3, MU_RX <==> ARDUINO_PIN2
 */
#define I2C_MODE
/*
 * Choose MU address here: 0x60, 0x61, 0x62, 0x63
 *        default address: 0x60
 */
#define MU_ADDRESS    0x60

#ifdef SERIAL_MODE

#endif
MuVisionSensor Mu(MU_ADDRESS);

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  uint8_t err = MU_ERROR_FAIL;
#ifdef I2C_MODE
  Wire.begin();
  // initialized MU on the I2C port
  err = Mu.begin(&Wire);
#elif defined SERIAL_MODE
  mySerial.begin(9600);
  // initialized MU on the soft serial port
  err = Mu.begin(&mySerial);
#endif
  if (err == MU_OK) {
    Serial.println("MU initialized.");
  } else {
    do {
      Serial.println("fail to initialize MU! Please check protocol "
                     "version or make sure MU is working on the "
                     "correct port with correct mode.");
      delay(5000);
    } while (1);
  }
  // enable vision: number card
  Mu.VisionBegin(VISION_SHAPE_CARD_DETECT);
}



void loop() {
  // put your main code here, to run repeatedly:
  long time_start = millis();

  // read result
  if (Mu.GetValue(VISION_SHAPE_CARD_DETECT, kStatus)) {                   // update vision result and get status, 0: undetected, other: detected
    Serial.println("vision shape card detected:");
    Serial.print("x = ");
    Serial.println(Mu.GetValue(VISION_SHAPE_CARD_DETECT, kXValue));       // get vision result: x axes value
    Serial.print("y = ");
    Serial.println(Mu.GetValue(VISION_SHAPE_CARD_DETECT, kYValue));       // get vision result: y axes value
    Serial.print("width = ");
    Serial.println(Mu.GetValue(VISION_SHAPE_CARD_DETECT, kWidthValue));   // get vision result: width value
    Serial.print("height = ");
    Serial.println(Mu.GetValue(VISION_SHAPE_CARD_DETECT, kHeightValue));  // get vision result: height value
    Serial.print("label = ");
    switch (Mu.GetValue(VISION_SHAPE_CARD_DETECT, kLabel)) {              // get vision result: label value
      
      
      case MU_SHAPE_CARD_TICK:
        Serial.println("tick");
        break;
      
      case MU_SHAPE_CARD_CROSS:
        Serial.println("cross");
        break;
      
      case MU_SHAPE_CARD_CIRCLE:
        Serial.println("circle");
        break;
      
      case MU_SHAPE_CARD_SQUARE:
      
      move_forward();
      move_left_Square();
      move_forward();
      move_left_Square();
      move_forward();
      move_left_Square();
      move_forward();
      move_left_Square();            
             

        

        Serial.println("square");
        break;
        
      case MU_SHAPE_CARD_TRIANGLE:
        Serial.println("triangle");
        move_forward();
        move_left_Triangle();
        move_forward();
        move_left_Triangle();
        move_forward();
        move_left_Triangle();
         
        break;
      default:
      move_stop();
        Serial.print("unknow card type: ");
        Serial.println(Mu.GetValue(VISION_SHAPE_CARD_DETECT, kLabel));
        break;
    }
  } else {
    Serial.println("vision shape card undetected.");
  }
  Serial.print("fps = ");
  Serial.println(1000/(millis()-time_start));
  Serial.println();
}

// Forward Direction

void move_forward() {
  M1.setSpeed(255);
  M1.run(FORWARD);
  M4.setSpeed(255);
  M4.run(FORWARD);
  delay(1000);
  M1.run(RELEASE);
  M4.run(RELEASE);
  
}

// LEFT Direction for Square Shape

void move_left_Square() {
  M1.setSpeed(255);
  M1.run(FORWARD);
  M4.setSpeed(255);
  M4.run(BACKWARD);
  delay(470);
  M1.run(RELEASE);
  M4.run(RELEASE);
  

}


// LEFT Direction for Triangle Shape

void move_left_Triangle() {
  M1.setSpeed(255);
  M1.run(FORWARD);
  M4.setSpeed(255);
  M4.run(BACKWARD);
  delay(580);
  M1.run(RELEASE);
  M4.run(RELEASE);
  

}

// RIGHT Direction

void move_right() {
  M1.setSpeed(255);
  M1.run(BACKWARD);
  M4.setSpeed(255);
  M4.run(FORWARD);
  delay(500);
  M1.run(RELEASE);
  M4.run(RELEASE);
  
 
}

// Stop 

void move_stop() {
  M1.setSpeed(0);
  M1.run(RELEASE);
  M4.setSpeed(0);
  M4.run(RELEASE);
}