added arduino, modified build

arduino/libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino

@@ -0,0 +1,120 @@
+/* Robot Rescue
+
+ In this example, the robot enters the line following mode and
+ plays some music until it reaches its target. Once it finds the
+ target, it pushes it out of the track. It then returns to the
+ track and looks for a second target.
+
+ You can make the robot push as many objects as you want to, just
+ add more to calls to the rescue function or even move that code
+ into the loop.
+
+ Circuit:
+ * Arduino Robot
+ * some objects for the robot to push
+ * a line-following circuit
+
+ created 1 May 2013
+ by X. Yang
+ modified 12 May 2013
+ by D. Cuartielles
+
+ This example is in the public domain
+ */
+
+#include <ArduinoRobot.h> // include the robot library
+#include <Wire.h>
+
+void setup() {
+  // initialize the Robot, SD card, display, and speaker
+  Robot.begin();
+  Robot.beginTFT();
+  Robot.beginSD();
+  Robot.beginSpeaker();
+
+  // draw "lg0.bmp" and "lg1.bmp" on the screen
+  Robot.displayLogos();
+
+  // display the line following instructional image from the SD card
+  Robot.drawBMP("lf.bmp", 0, 0);
+
+  // play the chase music file
+  Robot.playFile("chase.sqm");
+
+  // add the instructions
+  Robot.text("Rescue\n\n place the robot on\n the rescue track\n pushing the\n obstacles away", 5, 5);
+  Robot.text("Press the middle\n button to start...", 5, 61);
+  Robot.waitContinue();
+
+  // start
+  Robot.fill(255, 255, 255);
+  Robot.stroke(255, 255, 255);
+  Robot.rect(0, 0, 128, 80); // erase the previous text
+  Robot.stroke(0, 0, 0);
+  Robot.text("Start", 5, 5);
+
+  // use this to calibrate the line following algorithm
+  // uncomment one or the other to see the different behaviors of the robot
+  // Robot.lineFollowConfig(14, 9, 50, 10);
+  Robot.lineFollowConfig(11, 7, 60, 5);
+
+  // run the rescue sequence
+  rescueSequence();
+  // find the track again
+  goToNext();
+  // run the rescue sequence a second time
+  rescueSequence();
+
+  // here you could go on ...
+
+
+}
+
+void loop() {
+  //nothing here, the program only runs once.
+}
+
+// run the sequence
+void rescueSequence() {
+  //set the motor board into line-follow mode
+  Robot.setMode(MODE_LINE_FOLLOW);
+
+  while (!Robot.isActionDone()) { // wait until it is no longer following the line
+  }
+  delay(1000);
+
+  // do the rescue operation
+  doRescue();
+  delay(1000);
+}
+
+void doRescue() {
+  // Reached the endline, engage the target
+  Robot.motorsWrite(200, 200);
+  delay(250);
+  Robot.motorsStop();
+  delay(1000);
+
+  // Turn the robot
+  Robot.turn(90);
+  Robot.motorsStop();
+  delay(1000);
+
+  // Move forward
+  Robot.motorsWrite(200, 200);
+  delay(500);
+  Robot.motorsStop();
+  delay(1000);
+
+  // move backwards, leave the target
+  Robot.motorsWrite(-200, -200);
+  delay(500);
+  Robot.motorsStop();
+}
+
+void goToNext() {
+  // Turn the robot
+  Robot.turn(-90);
+  Robot.motorsStop();
+  delay(1000);
+}