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  1. #include <SoftwareSerial.h>
  2. #include<stdlib.h>
  3. #include<string.h>
  4. #define rxPin 10
  5. #define txPin 11
  6. #define rxPinJ 9
  7. #define txPinJ 8
  8.  
  9.  
  10. SoftwareSerial softSerial =  SoftwareSerial(rxPin, txPin);
  11. SoftwareSerial Jetson =  SoftwareSerial(rxPinJ, txPinJ);
  12.  
  13. int speed[] = {300, 400};
  14. int x, y, z;
  15. String face = "";
  16.  
  17.  
  18. void setup() {
  19.   Jetson.begin(57600); 
  20.   softSerial.begin(57600);
  21.   delay(2000);
  22.   start();         // start create in full mode
  23.   delay(500);
  24.   setWelcome();    // write song_welcome
  25.   delay(500);
  26.   setWarning();    // write song_warning
  27.   delay(500);
  28. }
  29.  
  30. const char TERMINATOR = '|';
  31.  
  32. void loop() {
  33.   patrol();
  34. }
  35.  
  36. void start(){
  37.   softSerial.write(128);    
  38.   softSerial.write(132);  
  39. }
  40.  
  41. void setWelcome(){
  42.   softSerial.write(140);
  43.   softSerial.write(1); 
  44.   softSerial.write(3);
  45.   softSerial.write(60);
  46.   softSerial.write(12);
  47.   softSerial.write(62);
  48.   softSerial.write(12);
  49.   softSerial.write(64);
  50.   softSerial.write(12);
  51. }
  52.  
  53. void setWarning(){
  54.   softSerial.write(140);
  55.   softSerial.write(2);
  56.   softSerial.write(2);
  57.   softSerial.write(60);
  58.   softSerial.write(12);
  59.   softSerial.write(64);
  60.   softSerial.write(12); 
  61. }
  62.  
  63. void drive(int speed_right, int speed_left, int sec) {
  64.     softSerial.write(145);
  65.     softSerial.write((speed_right>>8)&0xFF);
  66.     softSerial.write(speed_right&0xFF);
  67.     softSerial.write((speed_left>>8)&0xFF);
  68.     softSerial.write(speed_left&0xFF);
  69.     delay(sec);
  70. }
  71.  
  72. void bump(){                      // detect bump
  73.     z = 0;
  74.     softSerial.write(142);
  75.     softSerial.write(7);
  76.     delay(64);
  77.     z = softSerial.read();
  78.     if((z&0x03) == 0x03){
  79.       stop_d();
  80.       delay(100);
  81.       drive(-300, -300, 500);
  82.       drive(-300, 300, 1250);       
  83.     }                              // if hit in the front, turn back
  84.     else if((z&0x01) == 0x01){
  85.       stop_d();
  86.       delay(100);
  87.       drive(-300, -300, 500);
  88.       drive(400, 0, 500);          
  89.     }                              // if hit in the right, turn left
  90.     else if((z&0x02) == 0x02){
  91.       stop_d();
  92.       delay(100);
  93.       drive(-300, -300, 500);
  94.       drive(0, 400, 500);
  95.    }                               // if hit in the left, turn right
  96. }
  97.  
  98. void stop_d(){
  99.     softSerial.write(145);
  100.     softSerial.write((byte)(0));
  101.     softSerial.write((byte)(0));
  102.     softSerial.write((byte)(0));
  103.     softSerial.write((byte)(0));
  104. }
  105.  
  106.  
  107. void scan(){
  108.    while(Jetson.available()>0){
  109.       face = Jetson.readStringUntil(TERMINATOR);
  110.       stop_d();
  111.       delay(2000);
  112.       if(face.toInt() == 100 || face.toInt() == 200){ 
  113.         Jetson.write("ok");
  114.         stop_d();
  115.         delay(1000);
  116.         if(face.toInt() == 100){
  117.           play_song(1);
  118.           delay(2000);
  119.          // drive(-300, 300, 1250);
  120.           face = "";
  121.           while(1);
  122.         }
  123.         else if(face.toInt() == 200){
  124.           while(1){
  125.             play_song(2);
  126.           }
  127.           face = "";
  128.        }
  129.     }
  130.   }
  131. }
  132.  
  133. void patrol(){
  134.   x = rand() % 2; 
  135.   y = rand() % 2;             // random speed
  136.   for(int c = 0; c < 30; c++){
  137.     drive(speed[x], speed[y], 100);
  138.     bump();
  139.     scan();
  140.   }
  141. }
  142.  
  143. void play_song(int num){
  144.   softSerial.write(141);
  145.   softSerial.write(num);
  146. }
  147.  
Compilation error #stdin compilation error #stdout 0s 0KB
comments (?)
stdin
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Standard input is empty
compilation info 
prog.c:1:10: fatal error: SoftwareSerial.h: No such file or directory
 #include <SoftwareSerial.h>
          ^~~~~~~~~~~~~~~~~~
compilation terminated.
stdout
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Standard output is empty
https://ideone.com/L8uTXT
language:
C (gcc 8.3)
created:
2 years ago
visibility:
secret

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