Controlling the ELEGOO Arduino Smart Car

The Car Control Library provides you with a suite of functions to control the car's movements with ease.

Functions:

1. Move Forward

   • car.moveForward(speed, duration);
   • Description: Moves the car forward.
   • Parameters:
     • speed: Speed of the car.
     • duration: Duration in milliseconds.
   • Example: car.moveForward(255, 2000); moves the car forward at maximum speed for 2 seconds.

2. Move Backward

   • car.moveBackward(speed, duration);
   • Description: Moves the car backward.
   • Parameters:
     • speed: Speed of the car.
     • duration: Duration in milliseconds.
   • Example: car.moveBackward(200, 1500); moves the car backward at speed 200 for 1.5 seconds.

3. Turn Left

   • car.turnLeft(speed, duration);
   • Description: Turns the car left.
   • Parameters:
     • speed: Speed of the turn.
     • duration: Duration in milliseconds.
   • Example: car.turnLeft(180, 1000); turns the car left at speed 180 for 1 second.

4. Turn Right

   • car.turnRight(speed, duration);
   • Description: Turns the car right.
   • Parameters:
     • speed: Speed of the turn.
     • duration: Duration in milliseconds.
   • Example: car.turnRight(150, 500); turns the car right at speed 150 for half a second.

5. Stop Motors

   • car.stopMotors();
   • Description: Stops all of the car's motors.
   • Example: car.stopMotors(); stops the car.

6. Stop Time

   • car.stopTime(mS);
   • Description: Places the car in standby for a specified duration.
   • Parameters:
     • mS: Standby time in milliseconds.
   • Example: car.stopTime(1000); puts the car in standby for 1 second.

7. Turn Around

   • car.turnAround(speed);
   • Description: Turns the car around 180 degrees.
   • Parameters:
     • speed: Speed of the turn.
   • Example: car.turnAround(200); turns the car 180 degrees at speed 200.

8. Move Slow Forward

   • car.moveSlowForward(duration);
   • Description: Moves the car forward at a slow speed.
   • Parameters:
     • duration: Duration in milliseconds.
   • Example: car.moveSlowForward(3000); moves the car forward slowly for 3 seconds.

9. Follow Line

   • car.followLine(threshold);
   • Description: Adjusts the car's movement to follow a line based on sensor readings.
   • Parameters:
     • threshold: Value against which sensor readings are compared to detect the line.
   • Example: car.followLine(1000); adjusts the car's movement to follow a line, assuming sensor values above 1000 indicate the line's presence.

10. Stop At Line

    • car.stopAtLine(threshold);
    • Description: Stops the car when a line is detected by any sensor.
    • Parameters:
      • threshold: Value against which sensor readings are compared to detect the line.
    • Example: car.stopAtLine(1000); stops the car when any sensor detects a line with a value below 1000.

11. Custom Movement

    • car.customMovement(forwardA, forwardB, speedA, speedB, duration);
    • Description: Executes a custom movement pattern.
    • Parameters:
      • forwardA: Boolean flag to set motor A's direction (forward if true, backward if false).
      • forwardB: Boolean flag to set motor B's direction.
      • speedA: Speed setting for motor A (0-255).
      • speedB: Speed setting for motor B (0-255).
      • duration: Time for which the movement should last in milliseconds.
    • Example: car.customMovement(true, false, 200, 150, 2500); will make motor A move forward and motor B move backward, creating a custom motion for the car.
    • Example: car.stopAtLine(1000); stops the car when any sensor detects a line with a value below 1000.

Ultrasonic Sensor Commands

12. Check for Obstacle

    • car.checkObstacleInFront();
    • Description: Checks if there is an obstacle in front of the car.
    • Example: car.checkObstacleInFront(); updates the _obstacleInFront variable based on whether an obstacle is detected.

13. Get Distance to Obstacle

    • car.getDistanceToObstacle();
    • Description: Returns the distance to the nearest obstacle in centimeters.
    • Example: int distance = car.getDistanceToObstacle(); gets the distance to the nearest obstacle.

Claw Mechanism Commands

14. Attach Claw

    • car.attachClaw(pin);
    • Description: Attaches the claw mechanism to the specified pin.
    • Parameters:
      • pin: The pin where the servo for the claw is connected.
    • Example: car.attachClaw(9); attaches the claw servo to pin 9.

15. Open Claw

    • car.openClaw();
    • Description: Opens the claw.
    • Example: car.openClaw(); opens the claw.

16. Close Claw

    • car.closeClaw();
    • Description: Closes the claw.
    • Example: car.closeClaw(); closes the claw.

Get Battery Level

17. Get Battery Level
    • car.getBatteryLevel();
    • Description: Retrieves the current battery level as a percentage.
    • Returns: Battery level percentage (0-100%).
    • Example: float batteryLevel = car.getBatteryLevel(); gets the current battery level percentage.

Get Battery Voltage

18. Get Battery Voltage

    • car.getBatteryVoltage();
    • Description: Measures the current battery voltage.
    • Returns: Battery voltage in volts.
    • Example: float voltage = car.getBatteryVoltage(); measures and returns the current battery voltage.

19. playStarWars()

    • Description: Plays the Star Wars theme tune using a buzzer attached to the car.
    • Example Usage: car.playStarWars();

20. attachBuzzer(int pin)

    • Description: Attaches a buzzer to a specified pin for audio output.
    • Parameters: pin - The pin number where the buzzer is connected.
    • Example Usage: car.attachBuzzer(10);

21. beep(int count), singleBeep(), doubleBeep()

    • Description: Controls buzzer patterns to emit single, double, or a specified number of beeps.
    • Example Usage:
      • car.beep(1); // Emits a single beep.
      • car.singleBeep(); // Emits a single beep.
      • car.doubleBeep(); // Emits two beeps in quick succession.

22. attachSensorServo(int pin)

    • Description: Attaches a servo motor to a pin for moving sensors, like ultrasonic or infrared, to scan the environment.
    • Parameters: pin - The pin number where the servo motor is connected.
    • Example Usage: car.attachSensorServo(9);

23. lookLeft(), lookRight(), centerServo()

    • Description: Controls the servo's position to turn sensors left, right, or bring them to the center.
    • Example Usage: car.lookLeft(); // Turns the sensor left.

24. lightRGBForDuration(CRGB color, int duration)

    • Description: Lights an RGB LED with a specified color for a set duration.
    • Parameters:
      • color: The color to set the LED.
      • duration: How long the LED should be lit (in milliseconds).
    • Example Usage: car.lightRGBForDuration(CRGB::Red, 1000); // Lights up red for 1 second.

25. getLineSensorLeft(), getLineSensorMiddle(), getLineSensorRight()

    • Description: Retrieves line sensor readings from the left, middle, or right sensor.
    • Example Usage: int leftValue = car.getLineSensorLeft(); // Gets left sensor reading.

26. getLeftDistance(), getRightDistance(), getCenterDistance()

    • Description: Gets distance readings from the left, right, or center distance sensors.
    • Example Usage: int distance = car.getLeftDistance(); // Gets distance from the left sensor.

27. followLineMultiSensor(int threshold)

    • Description: Enhanced line following functionality using multiple sensors.
    • Parameters: threshold - The sensor value threshold for detecting the line.
    • Example Usage: car.followLineMultiSensor(500);

28. followLineUntilCondition(int threshold, unsigned long duration)

    • Description: Follows a line for a specified duration or until a condition is met.
    • Parameters:
      • threshold: The sensor value threshold for detecting the line.
      • duration: How long to follow the line (in milliseconds).
    • Example Usage: car.followLineUntilCondition(500, 10000); // Follows for 10 seconds.

29. *intersectionDecision(int threshold, bool (decisionFunction)())

    • Description: Makes decisions at intersections during line following based on a user-defined function.
    • Parameters:
      • threshold: The sensor value threshold for detecting the line.
      • decisionFunction: A pointer to a function that determines the action at intersections.
    • Example Usage: car.intersectionDecision(500, detectIntersection); // Uses a custom function to decide at intersections.

30. initLineSensors()

    • Description: Initializes the pins for the line sensors.
    • Example Usage: car.initLineSensors();

31. customMovement(bool forward, bool backward, int speedLeft, int speedRight, int duration)

    • Description: Allows for custom movement patterns by specifying directions and speeds for each motor.
    • Parameters:
      • forward: Set to true to move forward.
      • backward: Set to true to move backward.
      • speedLeft: Speed for the left motor.
      • speedRight: Speed for the right motor.
    • Example Usage: car.customMovement(true, false, 200, 150, 2500);