hangpersonal/Udacity_Nanodegree_Robotics_and_Embedded_Systems
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hangpersonal
2026-07-30 16:21:28 -04:00
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@@ -4,6 +4,8 @@ This project controls a small two-wheel robot that travels toward a target based
The OLED screen, LED, and buzzer provide clear status feedback throughout the process. The OLED screen, LED, and buzzer provide clear status feedback throughout the process.
<a href="url"><img src="./images/connections.png" width="600"></a>
## Features ## Features
- Button-controlled start - Button-controlled start
@@ -85,16 +87,6 @@ Beep three times
Pause, then reset Pause, then reset
``` ```
## Core functions
### `wait_button_press()`
Waits until the physical button is pressed. The function deliberately blocks so the robot cannot begin moving before user confirmation.
### `get_steps_from_distance(distance)`
Converts the ultrasonic sensor's distance measurement into the number of steps required by the motors. Keeping this calculation in a separate function makes it easy to recalibrate the robot for different wheels, motors, or measurement units.
## Tilt detection ## Tilt detection
After every pair of motor movements, the program reads `AcY`. A reading outside the permitted range indicates that the robot has tilted and may no longer be driving safely. After every pair of motor movements, the program reads `AcY`. A reading outside the permitted range indicates that the robot has tilted and may no longer be driving safely.