// Include the library

#include <Servo.h>

// Create the servo object

Servo myservo;

// Setup section to run once

void setup() {

  myservo.attach(9); // attach the servo to our servo object

  myservo.write(90); 

}

// Loop to keep the motor turning!

void loop() {

  myservo.write(45); // rotate the motor counterclockwise

  delay(5000); // keep rotating for 5 seconds (5000 milliseconds)

  myservo.write(90); // stop the motor

  delay(5000); // stay stopped

  myservo.write(135); // rotate the motor clockwise

  delay(5000); // keep rotating 

}

1. get both motors working

2. get code to spin both motors

3. code prototype for line tracing

4. get a large canvas 

5. get pen to draw lines.

6. make tracking software

7. make accelerometer work

#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Adafruit_MotorShield.h>

#include <Wire.h>

Adafruit_MPU6050 mpu; 

Adafruit_MotorShield AFMS = Adafruit_MotorShield();

Adafruit_DCMotor *myMotor = AFMS.getMotor(1);

Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2); 

int datacollect = 0;

int accelX[60];

int accelY[60];

int smallestX = 1000;

int biggestX = -1000;

int smallestY = 1000;

int biggestY = -1000;

void setup(void) {

  AFMS.begin();

  Serial.begin(115200);  

  while (!Serial) {delay(10);}

  Serial.println("Adafruit MPU6050 test!");

  // Try to initialize! 

  if (!mpu.begin()) {

  Serial.println("Failed to find MPU6050 chip");  

  while (1) { delay(10); } }

  Serial.println("MPU6050 Found!");

  //setupt motion detection 

  mpu.setHighPassFilter(MPU6050_HIGHPASS_0_63_HZ); 

  mpu.setMotionDetectionThreshold(1); 

  mpu.setMotionDetectionDuration(20); 

  mpu.setInterruptPinLatch(true);

  // Keep it latched.  Will turn off when reinitialized.  

  mpu.setInterruptPinPolarity(true);  

  mpu.setMotionInterrupt(true);

  Serial.println(""); 

  delay(10);

}

void loop() {

  Serial.print("test");

  if (datacollect == 0) {

   for (int count = 0; count <=59; count++){

      if (mpu.getMotionInterruptStatus()) {

    /* Get new sensor events with the readings */

    sensors_event_t a, g, temp;

    mpu.getEvent(&a, &g, &temp);

    accelX[count] = a.acceleration.x;

    accelY[count] = a.acceleration.y;

    Serial.print("AccelX:"); 

    Serial.print(a.acceleration.x); 

    Serial.print(",");  

    Serial.print("AccelY:");   

    Serial.print(a.acceleration.y); 

    Serial.print(",");  

    Serial.print("AccelZ:");  

    Serial.print(a.acceleration.z);   

    Serial.print(", ");    

    Serial.print("GyroX:"); 

    Serial.print(g.gyro.x);   

    Serial.print(",");

    Serial.print("GyroY:"); 

    Serial.print(g.gyro.y);   

    Serial.print(","); 

    Serial.print("GyroZ:"); 

    Serial.print(g.gyro.z);  

    Serial.print("");  

    Serial.println("-----------");  

    Serial.println(a.acceleration.x*10); 

    }

   }

    for(int i=0;i<59;i++){

      if(accelX[i]<smallestX){smallestX = accelX[i];}

      if(accelX[i]>biggestX){biggestX = accelX[i];}

      if(accelY[i]<smallestY){smallestY = accelY[i];}

      if(accelY[i]>biggestY){biggestY = accelY[i];}

    }

    Serial.println("");

    Serial.print("smallestX: ");

    Serial.print(smallestX);

    Serial.println("");

    Serial.print("biggestX: ");

    Serial.print(biggestX);

    Serial.println("");

  Serial.println("");

    Serial.print("smallestY: ");

    Serial.print(smallestY);

    Serial.println("");

    Serial.print("biggestY: ");

    Serial.print(biggestY);

    Serial.println(""); 

    for(int i=0;i<59;i++){

      accelX[i] = map(accelX[i], smallestX, biggestX, 60, 255);

      accelY[i] = map(accelY[i],smallestY,biggestY,60,255); 

    } 

    Serial.print(accelX[23]);

    Serial.print("");  

    Serial.print(accelY[23]);

    Serial.print("");  

    delay(1000);

   }

/*

   if(count >= 60){

    datacollect = 1;

  }

  }

  if (datacollect == 1){

    for(int count = 0; count<60;count++){

     myMotor->setSpeed(ceil(accelX[count]));

    myMotor2->setSpeed(ceil(accelY[count]));

    myMotor->run(BACKWARD);

    myMotor2->run(BACKWARD);

  }

  }

  */

}

1Enby.Github.io