From 52f2260c5375fdc7a2e99da68be85e7f24848bc0 Mon Sep 17 00:00:00 2001
From: Luca Tringali <tringalinvent@libero.it>
Date: Sat, 15 Feb 2020 23:22:04 +0100
Subject: Ultime lezioni

---
 5-microfono-relay.ino     |  27 +++++++++++
 6-allarme.ino             |  64 +++++++++++++++++++++++++
 7-robot-linefollowing.ino | 119 ++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 210 insertions(+)
 create mode 100644 5-microfono-relay.ino
 create mode 100644 6-allarme.ino
 create mode 100644 7-robot-linefollowing.ino

diff --git a/5-microfono-relay.ino b/5-microfono-relay.ino
new file mode 100644
index 0000000..83fe599
--- /dev/null
+++ b/5-microfono-relay.ino
@@ -0,0 +1,27 @@
+int sensorPin = A0; //KY-038 microphone
+int relay = 13; 
+int sensorValue = 0;
+bool on = false;
+
+void setup () 
+{
+  pinMode (relay, OUTPUT);
+  digitalWrite (relay, LOW);
+  Serial.begin (9600);
+}
+ 
+void loop () 
+{
+  sensorValue = analogRead (sensorPin);
+  Serial.println (sensorValue, DEC);
+  if (sensorValue > 500) {
+    /*if (on == true) {
+      on = false;
+    } else {
+      on = true;
+    }*/
+    on = !on;
+  }
+  digitalWrite (relay, on);
+  delay(100);
+}
\ No newline at end of file
diff --git a/6-allarme.ino b/6-allarme.ino
new file mode 100644
index 0000000..211ca30
--- /dev/null
+++ b/6-allarme.ino
@@ -0,0 +1,64 @@
+//       nota,  frequenza (Hz). 
+#define  Do4     261
+#define  Re4     294
+#define  Mi4     329
+#define  Fa4     349
+#define  Sol4    392
+#define  La4     440
+#define  Si4     493
+#define  Do5     523
+
+// Una pausa è una nota con frequenza zero
+#define  P     0
+
+
+const int buttonPin = 2; 
+// Il buzzer deve essere collegato a un pin PWM
+int speakerOut = 9;
+
+void setup() { 
+  pinMode(buttonPin, INPUT);
+  pinMode(speakerOut, OUTPUT);
+}
+
+//  melody[] è l'array con le varie note da suonare
+//  beats[] è l'array con la durata di ciascuna nota da suonare in frazioni di semibreve
+int melody[] = { La4,  La4,  Si4,  Do5,  Do5,   Si4,  La4,  Sol4,  Fa4,  Fa4, Sol4, La4, La4, Sol4, Sol4, P };
+int beats[]  = { 4, 4, 4,  4,  4,  4, 4, 4, 4, 4, 4, 4, 3, 8, 2, 1 }; 
+int MAX_COUNT = sizeof(melody) / 2; // Calcoliamo la dimensione degli array
+
+//Tempo della nota semibreve in millesimi di secondo
+long tempo = 4000;
+// Pausa tra le note in milionesimi di secondo
+int pause = 1000;
+
+
+int tone_ = 0;
+int beat = 0;
+long duration  = 0;
+int volume = 1023;
+
+
+void loop() {
+    if (digitalRead(buttonPin) == LOW) {
+  // Scorriamo tutte le note e le rispettive durate
+  for (int i=0; i<MAX_COUNT; i++) {
+    tone_ = melody[i];
+    beat = beats[i];
+    
+
+    duration = (tempo)/beat; // Calcoliamo la durata in millisecondi della nota attuale
+ if (tone_ > 0) {
+    if (digitalRead(buttonPin) == HIGH) break;
+    noTone(speakerOut); 
+    tone(speakerOut,tone_,duration);
+    delay(duration);
+    // Piccola pausa dopo la nota
+    delayMicroseconds(pause);
+
+ } else {
+   delay(duration);
+ }
+     }
+  }
+}
diff --git a/7-robot-linefollowing.ino b/7-robot-linefollowing.ino
new file mode 100644
index 0000000..b655bf6
--- /dev/null
+++ b/7-robot-linefollowing.ino
@@ -0,0 +1,119 @@
+/*
+basato sul codice di esempio di Arvind Sanjeev per il set di sensori QTR-8A
+
+ */
+#include <Servo.h> 
+
+Servo left;
+Servo right; 
+
+int mid = 0;
+int mn = 1023;
+int mx = 0;
+
+void setup()
+{
+
+left.attach(9, 800, 2200); //left servo motor
+right.attach(10, 800, 2200); //right servo motor
+
+Serial.begin(9600);
+
+digitalWrite(13, LOW);
+
+right.write(90);//stop signal
+left.write(90);//stop signal
+
+for(int i=0; i<5000; i++)
+{
+digitalWrite(13, HIGH);
+
+for(int j=0; j<=5; j++)//Calibrating the sensor, finding max and 
+{                      //min reflectance values.
+int val = analogRead(j);
+if(val >= mx)
+mx = val;
+if(val <= mn)
+mn = val;
+}
+delay(1);
+}
+
+mid = ((mx + mn)/2);
+digitalWrite(13, LOW);
+
+right.write(90);
+left.write(90);
+}
+
+void loop()
+{
+
+int s0 = analogRead(0);//Signal pin 1 on the board
+int s1 = analogRead(1);//Signal pin 2 on the board
+int s2 = analogRead(2);//Signal pin 3 on the board
+int s3 = analogRead(3);//Signal pin 4 on the board
+int s4 = analogRead(4);//Signal pin 5 on the board
+int s5 = analogRead(5);//Signal pin 6 on the board
+
+
+Serial.print("Mid: ");
+Serial.print(mid); 
+Serial.print(" ");
+Serial.print(s0); 
+Serial.print(" ");
+Serial.print(s1); 
+Serial.print(" ");
+Serial.print(s2); 
+Serial.print(" ");
+Serial.print(s3); 
+Serial.print(" ");
+Serial.print(s4); 
+Serial.print(" ");
+Serial.print(s5); 
+Serial.print(" ");
+Serial.println();
+
+right.write(180);//Move forward
+left.write(0);//Move forward
+
+delay(1);
+
+int averageLeft = (s0+s1+s2)/3;
+int averageRight = (s3+s4+s5)/3;
+
+
+if(((averageLeft)>((averageRight)+240)))//Move right
+{
+right.write(130);//180
+left.write(90);//90
+Serial.print(" RIGHT");
+delay(abs((averageRight-(averageLeft))/2));
+}
+
+if(((averageLeft)<((averageRight)-240)))//Move left
+{
+right.write(90);//90
+left.write(40);//0
+Serial.print(" LEFT");
+delay(abs(((averageRight)-(averageLeft))/2));
+}
+
+if((s0 > mid)&&(s5 > mid))//Stop if all the sensors give low 
+{                         //reflectance values
+right.write(90);
+left.write(90);
+Serial.print(" STOP");
+
+for(int k=0; k<50; k++)
+{
+digitalWrite(13, HIGH);
+delay(100);
+digitalWrite(13, LOW);
+delay(100);
+}
+delay(5000);
+}
+
+
+}
-- 
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