pfiscarelli · May 30, 2020 18:54
diff --git a/TimberBot.ino b/TimberBot.ino
 /*
    TimberBOT
    by: Paul Fiscarelli
    
    Copyright (c) 2020, Paul Fiscarelli
    
    MIT License

    Permission is hereby granted, free of charge, to any person obtaining a copy
    of this software and associated documentation files (the "Software"), to deal
    in the Software without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    copies of the Software, and to permit persons to whom the Software is
    furnished to do so, subject to the following conditions:
    
    The above copyright notice and this permission notice shall be included in all
    copies or substantial portions of the Software.
    
    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
    SOFTWARE.
 */
 #define RIGHT_LIMB_THRESHOLD 600        // threshold to detect limb on right-side of tree
 #define LEFT_LIMB_THRESHOLD  300        // threshold to detect limb on left-side of tree
 #define CHOP_MIN_THRESHOLD   155        // threshold for minimum chop rate (time in ms)

 int eyesSensorPin = A0;                 // select the input pin for the potentiometer
 int chopPin = A1;                       // select analog input for chop-rate potentiometer 

 int ledPin = 13;                        // select LED pin (output)
 int xAxisPin = 2;                       // select xAxis pin (output)
 int chopButtonPin = 3;                  // select chop ping (output)

 int eyesSensorValue = 0;                // input from eye sensors - differential voltage divider
 int choppingRate = 0;                   // TimberBOT's chop rate

 bool ledStatus = HIGH;                  // led pin output status
 bool xAxisPosition = HIGH;              // xAxis position
 bool chopOutput = HIGH;                 // produce chop output

 void setup() {
  // designate pin functions:
  pinMode(ledPin, OUTPUT);
  pinMode(xAxisPin, OUTPUT);
  pinMode(chopButtonPin, OUTPUT);
 }

 void loop() {
  // read values from input sensors
  eyesSensorValue = analogRead(eyesSensorPin);
  choppingRate = (analogRead(chopPin) + CHOP_MIN_THRESHOLD) / 2;
  Serial.println(choppingRate);
  
  if (eyesSensorValue > RIGHT_LIMB_THRESHOLD){
    xAxisPosition = LOW;                // tree limb on the right - move left
  }
  else if (eyesSensorValue < LEFT_LIMB_THRESHOLD){
    xAxisPosition = HIGH;               // tree limb on the left - move right
  }
  else {
    // keep current side of tree
  }
  
  // turn-on chop rate LED indicator
  digitalWrite(ledPin, HIGH);
  
  // move to correct side of tree and chop
  digitalWrite(xAxisPin, xAxisPosition);
  digitalWrite(chopButtonPin, LOW);
  delay(choppingRate);

  // turn-off chop rate LED indicator
  digitalWrite(ledPin, LOW);

  // release chop
  digitalWrite(chopButtonPin, HIGH);
  delay(choppingRate);
 }
	/*
	TimberBOT
	by: Paul Fiscarelli

	Copyright (c) 2020, Paul Fiscarelli

	MIT License

	Permission is hereby granted, free of charge, to any person obtaining a copy
	of this software and associated documentation files (the "Software"), to deal
	in the Software without restriction, including without limitation the rights
	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
	copies of the Software, and to permit persons to whom the Software is
	furnished to do so, subject to the following conditions:

	The above copyright notice and this permission notice shall be included in all
	copies or substantial portions of the Software.

	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
	SOFTWARE.
	*/
	#define RIGHT_LIMB_THRESHOLD 600 // threshold to detect limb on right-side of tree
	#define LEFT_LIMB_THRESHOLD 300 // threshold to detect limb on left-side of tree
	#define CHOP_MIN_THRESHOLD 155 // threshold for minimum chop rate (time in ms)

	int eyesSensorPin = A0; // select the input pin for the potentiometer
	int chopPin = A1; // select analog input for chop-rate potentiometer

	int ledPin = 13; // select LED pin (output)
	int xAxisPin = 2; // select xAxis pin (output)
	int chopButtonPin = 3; // select chop ping (output)

	int eyesSensorValue = 0; // input from eye sensors - differential voltage divider
	int choppingRate = 0; // TimberBOT's chop rate

	bool ledStatus = HIGH; // led pin output status
	bool xAxisPosition = HIGH; // xAxis position
	bool chopOutput = HIGH; // produce chop output

	void setup() {
	// designate pin functions:
	pinMode(ledPin, OUTPUT);
	pinMode(xAxisPin, OUTPUT);
	pinMode(chopButtonPin, OUTPUT);
	}

	void loop() {
	// read values from input sensors
	eyesSensorValue = analogRead(eyesSensorPin);
	choppingRate = (analogRead(chopPin) + CHOP_MIN_THRESHOLD) / 2;
	Serial.println(choppingRate);

	if (eyesSensorValue > RIGHT_LIMB_THRESHOLD){
	xAxisPosition = LOW; // tree limb on the right - move left
	}
	else if (eyesSensorValue < LEFT_LIMB_THRESHOLD){
	xAxisPosition = HIGH; // tree limb on the left - move right
	}
	else {
	// keep current side of tree
	}

	// turn-on chop rate LED indicator
	digitalWrite(ledPin, HIGH);

	// move to correct side of tree and chop
	digitalWrite(xAxisPin, xAxisPosition);
	digitalWrite(chopButtonPin, LOW);
	delay(choppingRate);

	// turn-off chop rate LED indicator
	digitalWrite(ledPin, LOW);

	// release chop
	digitalWrite(chopButtonPin, HIGH);
	delay(choppingRate);
	}