Robotic Fishing Boat

Short Description: This is a prototype of a robotic fishing boat created with a partner using Arduino and by 3D printing parts of it. It’s a very basic version of what could be a more refined and complex iteration.

Presentation PDF

Code:

#include 
#include  
#define sensorIRL A0
#define sensorIRR A1
#define sensorbot A2
//#define sensorIRR A1

Servo myservo;
Ultrasonic ultrasonic(8);
// constants won't change. They're used here to 
// set pin numbers:

const int motor =  11;    
const int motor2 = 10;
int pos = 0;

//float sensorValueL, inchesL;
//float sensorValue2;
//int front_sensor = ultrasonic.RangeInCentimeters;

void setup() {
  Serial.begin(9600);
  myservo.attach(9);
  pinMode(motor, OUTPUT); 
  pinMode(motor2, OUTPUT);  
  pinMode(sensorIRL, INPUT);
  pinMode(sensorIRR, INPUT);
  pinMode(sensorbot, INPUT);
}

void loop(){

  ultrasonic.MeasureInCentimeters();
  Serial.print("Front 1: ");
  Serial.println(ultrasonic.RangeInCentimeters);
  //delay(500);
 
  if (ultrasonic.RangeInCentimeters < = 20) {
    
    digitalWrite(motor, LOW);
    digitalWrite(motor2, LOW);
   
    uint16_t value = analogRead(sensorIRL);
    double distanceL = get_IR_L (value);
    Serial.print("First Left: ");
    Serial.println(distanceL);

    uint16_t value2 = analogRead(sensorIRR);
    double distanceR = get_IR_R (value2);
    Serial.print("First Right: ");
    Serial.println(distanceR);
    
    if (distanceL <= 10){
      digitalWrite(motor2, HIGH);
      digitalWrite(motor, LOW);
      Serial.println("go right!");
      //delay(500);
      uint16_t value = analogRead(sensorIRL);
      double distanceL = get_IR_L (value);
      Serial.print("Left: ");
      Serial.println(distanceL);
    }

    if (distanceR <= 10){
      digitalWrite(motor2, LOW);
      digitalWrite(motor, HIGH);
      Serial.println("go left!");
      //delay(500);
      uint16_t value2 = analogRead(sensorIRR);
      double distanceR = get_IR_R (value2);
      Serial.print("Right: ");
      Serial.println(distanceR);
    }
    
    ultrasonic.MeasureInCentimeters();
    Serial.print("Front 2: ");
    Serial.println(ultrasonic.RangeInCentimeters);
    //delay(500);
    fish();
  
  } else {
  
  digitalWrite(motor, HIGH);
  digitalWrite(motor2, HIGH);

  }

  delay(500);
  
}

void fish(){
    uint16_t value3 = analogRead(sensorIRR);
    double distancebot = get_IR_bot (value3);
    Serial.print("Bottom: ");
    Serial.println(distancebot);
    if (distancebot <= 12){
      for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees // in steps of 1 degree myservo.write(pos); // tell servo to go to position in variable 'pos' delay(15); // waits 15ms for the servo to reach the position } for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
        myservo.write(pos);              // tell servo to go to position in variable 'pos'
        delay(15);                       // waits 15ms for the servo to reach the position
      }
    }
}
//return distance (cm)
double get_IR_L (uint16_t value) {
     if (value < 16) value = 16;
     return 2076.0 / (value - 11.0);
}
double get_IR_R (uint16_t value2) {
     if (value2 < 16) value2 = 16;
     return 2076.0 / (value2 - 11.0);
}

double get_IR_bot (uint16_t value3) {
     if (value3 < 16) value3 = 16;
     return 2076.0 / (value3 - 11.0);
}