Landje Robot Instructionset

The Landje robot has its own instruction set. With these instructions you can easily control the robot.

Every program for a Landje Robot must start with the following instructions. You do not need to understand these instructions, just copy and paste these instructions when you start a new program.

#include <LandjeRobot.h>

// Robot motor connections
const int motor[2][4] = {
  {2, 3, 4, 5}, {6, 7, 8, 9}
};

// Line sensor connections
const int lineSensors[2] = { 10, 11 };
// Light floor with dark lines = true
// Dark floor with light lines = false 
const bool lineSensorInverse = true;

// Wheel circumference in cm
const int wheelRadiusMM = 21;
// Track width in cm
const int trackWidthMM = 98;

// Ultrasonic sensor connections
int ultraPin = 13;

// Servo connections
int servoPin = 14;

// Led connection
int mouthledPin = 15;

// Mode switch connection
int switchPin = 0;

LandjeRobot landjerobot(motor, LandjeRobotMotorController::STEPMODE::FULL_STEP, wheelRadiusMM , trackWidthMM, lineSensors, lineSensorInverse, ultraPin, servoPin, mouthledPin, switchPin);

These instructions must be placed in the program before the setup() function. Cut and paste these instructions into every program you write for the robot.

The robot instructionset

The Landje robot has several unique instructions. You have instructions to move, turn or,for example, to measure the distance. When you give these instructions the Landje Robot will then executed these instructions. You will see the line below in the first part of the program.

LandjeRobot landjerobot(motor, LandjeRobotMotorController::STEPMODE::FULL_STEP, wheelRadiusMM , trackWidthMM, lineSensors, lineSensorInverse, ultraPin, servoPin,mouthledPin);

With this long instruction the robot is set up. After executing this instruction you can use the variable landjerobot to give instructions to the robot. You give an instruction by adding the instruction to the variable landjerobot. You add an instruction to landjerobot by means of a dot. For example;

landjerobot.talk(5);

Pasting an instruction behind the variable landjerobot, is called giving an instruction. So if the instruction says ‘give the instruction move’ you program landjerobot.move(). In the next section you will learn more about all the special instructions that the Landje robot understands.

The Landje robot instructionset

The Landje robot has several instructions. With some instructions you can or must give something extra to the instruction. For example, if you want the robot to move, you can tell it which direction to drive in. To tell something extra to an instruction is called passing. You pass to the instruction move which direction it should drive in.

landjerobot.move(LandjeRobot::DIRECTION::FORWARD);

With LandjeRobot::DIRECTION::FORWARD you pass to the land robot that it must move forward. You tell the LandjeRobot robot to move in the DIRECTION FORWARD.

The information you pass on to the robot is called parameter. None, one or more parameters can be passed on to each instruction. How much and which parameters you can pass on differs per instruction.

Some instructions allow you to specify some parameters, but you don’t have to. If you give the instruction move you may specify the parameter waiting, but it is not necessary. So you may give the instruction landerobot.move(LandjeRobot::DIRECTION::FORWARD,10) but also landerobot.move(LandjeRobot::DIRECTION::FORWARD). At the first instruction the robot will drive 10 centimeters forward. On the second instruction the robot will continue to move forward until you give the instruction to stop. If you do not specify a parameter, a value will be selected. This value is called the default value. For the parameter distance this is infinite (∞).

If you look up the parameter for instructions in this manual, there is one value for a parameter underlined. This is the default value that will be chosen for the parameter if you do not pass the parameter on to the instruction. Take a look at the instruction move, it shows the value ‘∞’ which is underlined. The character ‘∞’ means infinite. If you do not specify the parameter distance, the robot will continue to drive till you give another instruction to stop driving.

Instructions can also return a value. If an instruction returns a value, this is mentioned in the instruction documentation. The instruction doIMove has no parameters, but does return a value. If the robot moves you get true, otherwise false.

Instructions

detectLine

Description

Indicates if a line on the floor is detected.

Syntax

detectLine();

Parameters

none

Returns

Example

if (landjerobot.detectLine() != LandjeRobot::LINE::NONE) {
    Serial.println("Sensor detected a line");
}

doIMove

Description

Indicates if the robot is moving.

Syntax

doIMove();

Parameters

none

Returns

Example

// Move the robot in forward direction
landjerobot.move(LandjeRobot::DIRECTION::FORWARD);

if (landjerobot.doIMove()) {
    Serial.println("I am moving now!");
}

doITalk

Description

Indicates if the robot is talking.

Syntax

doITalk();

Parameters

none

Returns

Example

// Make the robot talk for 60 seconds
landjerobot.talk(60);

if (landjerobot.doITalk()) {
    Serial.println("I am talking now!");
}

look

Description

Turn the robot head in a specific direction

Syntax

look( direction );

Parameters

Look directions for the robot

Returns

nothing

Example

// Look left
landjerobot.look(LandjeRobot::LOOK::LEFT);

measureDistance

Description

Measures the distance between the robot and another object

Syntax

measureDistance();

Parameters

none

Returns

Example

int measuredDistance = 0;
// Measure the distance between the robot and another object
measuredDistance  = landjerobot.measureDistance();

Serial.print("Measured distance ");
Serial.print(measuredDistance);
Serial.println(" cm");

mode

Description

Indicates the state of the mode switch.

Syntax

mode();

Parameters

none

Returns

Example

if (landjerobot.mode() == 1) {
    Serial.println("Mode 1");
} else {
    Serial.println("Mode 2");
}

mouthClosed

Description

Let the robot keep his mouth shut by turning off the led

Syntax

mouthClosed();

Parameters

none

Returns

nothing

Example

// Shut the robots mouth
landjerobot.mouthClosed();

mouthOpen

Description

Let the robot open its mouth by turning on the led

Syntax

mouthOpen();

Parameters

none

Returns

nothing

Example

// Let the robot open its mouth
landjerobot.mouthOpen();

move

Description

Move the robot in one direction

Syntax

move( direction );
move( direction , distance);
move( direction , distance, wait);

Parameters

Returns

nothing

Example

// robot moves in forward direction
landjerobot.move(LandjeRobot::DIRECTION::FORWARD);

// moves the robot 10cm backwards
landjerobot.move(LandjeRobot::DIRECTION::BACKWARD,10);

// move the robot 20cm in forward direction and 
// wait until the specified distance has been covered
landjerobot.move(LandjeRobot::DIRECTION::FORWARD,20,true);

talk

Description

Let the robot ‘talk’ by letting the led blink randomly

Syntax

talk( duration );

Parameters

Returns

nothing

Example

// Talk for 7 seconds
landjerobot.talk(7);

turn

Description

Turn the robot in a certain direction

Syntax

turn( direction );
turn( direction , angle);
turn( direction , angle, wait);

Parameters

Turn directions of the robot

Returns

nothing

Example

// turn the robot left in a right angle
landjerobot.turn(LandjeRobot::TURN::LEFT);

// rotate the robot 360 degrees around its axis 
landjerobot.turn(LandjeRobot::TURN::RIGHT,360);

Arduino instructies

Arduino instructions are for all Arduino computers, so not especially for this robot. Where at Landje Robot instruction you have to type landjerobot. for the instruction, you don’t have to and can’t do this for Arduino instructions. With Arduino instructions you just use the instruction name.

If you want to learn more instructions from the Arduino, you can take a look at the Arduino Language Referece.

delay

Description

Wait a few milliseconds. Thousand (1000) milliseconds is equal to 1 second.

Syntax

delay( duration );

Parameters

Returns

nothing

Example

// Wait 2 seconds
delay(2000); 

random

Description

Enter a random number

Syntax

random( smallest number, largest number );

Parameters

Returns

The type long is niet explained. But for the robot, you can also use the type int.

Example

// Enter a random number,
// greater than or equal to 10 and
// Less than or equal to 20
int a = random(10,20);