Learning C++, Arduino, and robotics for beginners - follow wall and catch a ball in RCJ Line.

Line robot Overview Simplified assembly Standard assembly 1 Simplified installation Standard installation Standard Assembly 2 Hardware 1 Hardware 2 Skill Basic programming Line following Distance and color sensors Standard assembly 3 Gripper Program flow Advanced concepts For beginners Buy

Line Robot - Basic lessons - Exercises - Follow and catch

A combination of a few previous lessons.

Task: follow a wall and catch a ball.

Put a ball about 10-15 cm from the wall. Let the robot follow the wall with arm in catch-ready position. As soon as the ball enters space between jaws, catch and lift it. End the program. Use wall-following example:

void RobotLine::loop() {
	if (rightFront() > 100)
		go(80, 20);
	else
		go(20, 80);
}

Solution

void RobotLine::loop() {
	if (setup())
		armCatchReady();

	if (rightFront() > 100)
		go(80, 20);
	else
		go(20, 80);

	if (analogRead(35) < 600){
		armCatch();
		delayMs(500);
		armPutReady();
		delayMs(500);
		end();
	}
}

In the first run, open jaws ("armCatchReady()").
Continue following right wall (second "if").
Third "if" detects if barrier found a ball.
If so, catch and lift the ball. Allow some time (500 ms) between servo movements to give it enough time to reach new target positions. End the program.