added lab 4 public demo codes

lab4_demo_qti_calibration/lab4_demo_qti_calibration.ino

+#define BUTTON_PIN             2
+
+#define LEFT_QTI_PIN          A0
+#define MIDDLE_QTI_PIN        A1
+#define RIGHT_QTI_PIN         A2
+
+#define NUM_OF_MEASUREMENTS   10
+
+const uint8_t debounceDelay = 50;      // the debounce time; increase if the output flickers
+
+void setup() 
+{
+  Serial.begin(9600);
+  pinMode(BUTTON_PIN, INPUT);
+}
+
+void loop() 
+{
+  Serial.println("Leiame QTI sensorite tumeda ja heleda pinna keskmise väärtuse.");
+  Serial.println("Pane roboti kõik QTI sensorid tumedale pinnale ja vajuta nuppu.");
+  WaitForBtnClick();
+
+  uint16_t darkSurface = MeasureQtiAverage();
+  
+  Serial.print("Tumeda pinna keskmine väärtus on: ");
+  Serial.println(darkSurface);
+
+  Serial.println("Pane roboti kõik QTI sensorid heledale pinnale ja vajuta nuppu.");
+  WaitForBtnClick();
+  
+  uint16_t lightSurface = MeasureQtiAverage();
+  
+  Serial.print("Heleda pinna keskmine väärtus on: ");
+  Serial.println(lightSurface);
+
+  Serial.print("Soovituslik ""qti_threshold"" väärtus on: ");
+  Serial.println((lightSurface + darkSurface) / 2);
+
+  Serial.println("Uuesti mõõtmiseks vajuta nuppu.");
+  WaitForBtnClick();
+  Serial.println("------------------------------------------------------------------------");
+}
+
+uint16_t ReadQti(uint8_t qtiPin) 
+{              
+  digitalWrite(qtiPin, HIGH);          // Lülitame infrapuna sisse
+  delayMicroseconds(1000);             // Ootame 1 ms
+  digitalWrite(qtiPin, LOW);           // Lülitame infrapuna välja
+  return analogRead(qtiPin);           // Loeme kondensaatorilt tulemuse
+}
+
+void WaitForBtnClick()
+{
+  while (ButtonRead() != true);
+}
+
+uint16_t MeasureQtiAverage(void) 
+{
+  uint16_t leftQtiSum = 0;
+  uint16_t middleQtiSum = 0;
+  uint16_t rightQtiSum = 0;
+
+  /* Summeerime üle N mõõtmise */
+  for (uint8_t i = 0; i < NUM_OF_MEASUREMENTS; i++) 
+  {
+    leftQtiSum += ReadQti(LEFT_QTI_PIN);
+    middleQtiSum += ReadQti(MIDDLE_QTI_PIN);
+    rightQtiSum += ReadQti(RIGHT_QTI_PIN);
+    delay(100);
+  }
+  
+  /* Leiame kõigi sensorite keskmised tulemused*/
+  uint16_t leftQtiAverage = leftQtiSum / NUM_OF_MEASUREMENTS;
+  uint16_t middleQtiAverage = middleQtiSum / NUM_OF_MEASUREMENTS;
+  uint16_t rightQtiAverage = rightQtiSum / NUM_OF_MEASUREMENTS;
+
+  Serial.println("Sensorite kesmine väärtus:");
+  Serial.println("Vasak | Keskmine | Parem");
+  Serial.print(leftQtiAverage);
+  Serial.print("\t");
+  Serial.print( middleQtiAverage);
+  Serial.print("\t   ");
+  Serial.println( rightQtiAverage);
+
+  /* Leiame pinna üldise keskmise */
+  uint16_t surface = (leftQtiSum + middleQtiSum + rightQtiSum)  / (NUM_OF_MEASUREMENTS * 3);
+
+  return surface;
+}
+
+/* Compacted version of https://docs.arduino.cc/built-in-examples/digital/Debounce/ */
+bool ButtonRead() 
+{
+  static bool lastButtonState = LOW;
+  static uint32_t lastDebounceTime = 0;
+  static bool buttonState = LOW;   
+
+  bool btnReadValue = digitalRead(BUTTON_PIN);
+  if (btnReadValue != lastButtonState) {
+    lastDebounceTime = millis();
+  }
+  if ((millis() - lastDebounceTime) > debounceDelay) {
+    if (btnReadValue != buttonState) {
+      buttonState = btnReadValue;
+      if (buttonState == HIGH) {
+        return true;
+      }
+    }
+  }
+  lastButtonState = btnReadValue;
+  return false;
+}

lab4_demo_servo_calibrate/lab4_demo_servo_calibrate.ino

+#include <Servo.h>
+
+#define RIGHT_LED_PIN           7
+#define LEFT_LED_PIN            8
+
+/* Servomootorite viigud */
+#define RIGHT_SERVO_PIN         5
+#define LEFT_SERVO_PIN          6
+
+/* Servomootorite impulsside pikkused */
+#define SERVO_MIN_PULSE      1300
+#define SERVO_MAX_PULSE      1700
+#define SERVO_STANDSTILL     1500
+
+Servo leftWheel;
+Servo rightWheel;
+
+const uint16_t tickDelay = 1000;
+
+void setup() 
+{
+  /* LEDid väljundiks */
+  pinMode(LEFT_LED_PIN, OUTPUT);
+  pinMode(RIGHT_LED_PIN, OUTPUT);
+  
+  /* Konfigureerime servomootorid */
+  leftWheel.attach(LEFT_SERVO_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+  rightWheel.attach(RIGHT_SERVO_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+
+  /* Anname servodemootorite külge võtmiseks hetke aega */
+  delay(10);
+
+  /* Seadistame servomootorid seisvale asendile */
+  leftWheel.writeMicroseconds(SERVO_STANDSTILL);
+  rightWheel.writeMicroseconds(SERVO_STANDSTILL);
+}
+
+void loop() 
+{
+  static bool ledState = false;
+  
+  digitalWrite(RIGHT_LED_PIN, ledState);
+  digitalWrite(LEFT_LED_PIN, !ledState);
+
+  ledState = !ledState;
+
+  delay(tickDelay);
+}

lab4_demo_servo_move/lab4_demo_servo_move.ino

+#include <Servo.h>
+
+#define RIGHT_SERVO_PIN         5
+#define LEFT_SERVO_PIN          6
+
+#define SERVO_MIN_PULSE      1300
+#define SERVO_MAX_PULSE      1700
+#define SERVO_STANDSTILL     1500
+
+Servo leftWheel;
+Servo rightWheel;
+
+void setup() 
+{
+  /* Konfigureerime servomootorid */
+  leftWheel.attach(LEFT_SERVO_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+  rightWheel.attach(RIGHT_SERVO_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+
+  /* Anname servodemootorite külge võtmiseks hetke aega */
+  delay(10);
+
+  /* Seadistame servomootorid seisvale asendile */
+  SetWheels(SERVO_STANDSTILL, SERVO_STANDSTILL);
+}
+
+void loop() 
+{
+  /* Liigub edasi aeglaselt */
+  SetWheels(1550, 1450);
+  delay(1000);
+
+  /* Seisab pool sekundit */
+  SetWheels(SERVO_STANDSTILL, SERVO_STANDSTILL);
+  delay(500);
+
+  /* Liigub tagasi aeglaselt */
+  SetWheels(1450, 1550);
+  delay(1000);
+
+  /* Seisab pool sekundit */
+  SetWheels(SERVO_STANDSTILL, SERVO_STANDSTILL);
+  delay(500);
+}
+
+void SetWheels(int leftWheelImpulseLength, int rightWheelImpulseLength)
+{
+  leftWheel.writeMicroseconds(leftWheelImpulseLength);
+  rightWheel.writeMicroseconds(rightWheelImpulseLength);
+}

lab4_demo_ultrasonic/lab4_demo_ultrasonic.ino

+#define BUTTON_PIN             2
+
+#define SONIC_ECHO_PIN         3
+#define SONIC_TRIG_PIN         4
+
+const uint8_t debounceDelay = 50;   
+
+void setup() 
+{
+  /* Käivitame jadaühenduse */
+  Serial.begin(9600);
+
+  /* Seadistame surunupu */
+  pinMode(BUTTON_PIN, INPUT);
+
+  /* Seadistame ultraheli sisendi ja väljundi */
+  pinMode(SONIC_TRIG_PIN, OUTPUT);
+  pinMode(SONIC_ECHO_PIN, INPUT);
+}
+
+void loop() 
+{
+  if (ButtonRead()) 
+  {
+    float distance = GetDistInCm();
+    Serial.print("Roboti kaugus objektist on: ");
+    Serial.println(distance);
+  }
+}
+
+float GetDistInCm() 
+{
+  /* Saadame ultrahelilaine välja, kestvus 10 us */
+  digitalWrite(SONIC_TRIG_PIN, HIGH);   
+  delayMicroseconds(10);                
+  digitalWrite(SONIC_TRIG_PIN, LOW);    
+
+  /* Loeme signaali peegeldumise aja */
+  uint16_t echoTime = pulseIn(SONIC_ECHO_PIN, HIGH);
+  
+  /* Asenda tagastus korrektse valemiga, mille leiad andmelehelt */
+  return 0.0f; 
+}
+
+bool ButtonRead() 
+{
+  static bool lastButtonState = LOW;
+  static uint32_t lastDebounceTime = 0;
+  static bool buttonState = LOW;   
+
+  bool btnReadValue = digitalRead(BUTTON_PIN);
+  if (btnReadValue != lastButtonState) {
+    lastDebounceTime = millis();
+  }
+  if ((millis() - lastDebounceTime) > debounceDelay) {
+    if (btnReadValue != buttonState) {
+      buttonState = btnReadValue;
+      if (buttonState == HIGH) {
+        return true;
+      }
+    }
+  }
+  lastButtonState = btnReadValue;
+  return false;
+}