Program the Sumo Bot

This video goes over how to program your Sumo Bot. Don’t forget to go through the entire lesson!

The Sumo Bot uses its bottom IR sensors to stay within the black circle on the field, but you can also program it to push objects outside of the circle or compete with other robots.

This is the Sumo Bot’s pseudocode for staying in the circle:

• Check the bottom two IR sensors on the left and right sides:
• If the left sensor sees a line, back up and turn right.
• If the right sensor sees a line, back up and turn left.
• If the sensors don’t see anything, go forward.

First things to set up in your code: the Smart Inventor library and the DC motors:

#include <SmartInventor.h>

void setup() {
    SmartInventor.DCMotorUse();
}

void loop() {

}

You’re going to be using the bottom left and bottom right sensors on your Smart Inventor Board to see the black line, so set those up next:

#include <SmartInventor.h>

void setup() {
    SmartInventor.DCMotorUse();

    pinMode(11, INPUT);
    pinMode(18, INPUT);
}

void loop() {

}

Include the sensors and save their values so they can be read throughout the competition. Because this part of the program will be continuous, make sure to put it in void loop()!

#include <SmartInventor.h>

void setup() {
    SmartInventor.DCMotorUse();

    pinMode(11, INPUT);
    pinMode(18, INPUT);
}
 
void loop() {
    int leftSensor = digitalRead(11);
    int rightSensor = digitalRead(18);
}

Next up: the main section of the code! You’ll need to use an if statement to check if the sensors have detected the black line. If they have, they’ll read LOW.

Take a look at the example below and check out the left sensor. If it sees the black line, or reads LOW, the Sumo Bot will back up and turn away from the line.

#include <SmartInventor.h>

void setup() {
    SmartInventor.DCMotorUse(); 
    pinMode(11, INPUT);
    pinMode(18, INPUT);
}

void loop() {
    int leftSensor = digitalRead(11);
    int rightSensor = digitalRead(18);

    if(leftSensor == LOW)
    {
        SmartInventor.DCMotor(M1, CW, 50); // Back up for 0.333 seconds
        SmartInventor.DCMotor(M2, CCW, 50);
        delay(333);

        SmartInventor.DCMotor(M1, CCW, 50); // Turn right for .250 seconds
        SmartInventor.DCMotor(M2, CCW, 50);
        delay(250);
    }
}

Don’t forget to include the right sensor in your code! This time, you’ll need to use an else if statement since you already have an if statement set up. You should have your Sumo Bot back up and turn left when the right sensor detects a line.

#include <SmartInventor.h>

void setup() {
    SmartInventor.DCMotorUse();

    pinMode(11, INPUT);
    pinMode(18, INPUT);
}

void loop() {
    int leftSensor = digitalRead(11);
    int rightSensor = digitalRead(18);

    if(leftSensor == LOW)
    {
        SmartInventor.DCMotor(M1, CW, 50); // Back up for 0.333 seconds
        SmartInventor.DCMotor(M2, CCW, 50);
        delay(333);

        SmartInventor.DCMotor(M1, CCW, 50); // Turn right for .250 seconds
        SmartInventor.DCMotor(M2, CCW, 50);
        delay(250);
    }
    else if(rightSensor == LOW)
    {
        SmartInventor.DCMotor(M1, CW, 50); // Back up for 0.333 seconds
        SmartInventor.DCMotor(M2, CCW, 50);
        delay(333);

        SmartInventor.DCMotor(M1, CW, 50); // Turn left for .250 seconds
        SmartInventor.DCMotor(M2, CW, 50);
        delay(250);
    }
}

#include <SmartInventor.h>

void setup() {
    SmartInventor.DCMotorUse();

    pinMode(11, INPUT);
    pinMode(18, INPUT);
}

void loop() {
    int leftSensor = digitalRead(11);
    int rightSensor = digitalRead(18);

    if(leftSensor == LOW)
    {
        SmartInventor.DCMotor(M1, CW, 50); // Back up for 0.333 seconds
        SmartInventor.DCMotor(M2, CCW, 50);
        delay(333);

        SmartInventor.DCMotor(M1, CCW, 50); // Turn right for .250 seconds
        SmartInventor.DCMotor(M2, CCW, 50);
        delay(250);
    }
    else if(rightSensor == LOW)
    {
        SmartInventor.DCMotor(M1, CW, 50); // Back up for 0.333 seconds
        SmartInventor.DCMotor(M2, CCW, 50);
        delay(333);
        SmartInventor.DCMotor(M1, CW, 50); // Turn left for .250 seconds
        SmartInventor.DCMotor(M2, CW, 50);
        delay(250);
    }
    else
    {
        SmartInventor.DCMotor(M1, CCW, 50); // Go forward
        SmartInventor.DCMotor(M2, CW, 50);
    }
}

Your final code should look something like this. You can always customize your Sumo Bot by changing its speed or delay time!

#include <SmartInventor.h>

void setup() 
{    
    SmartInventor.DCMotorUse();    
    pinMode(11, INPUT);       
    pinMode(18, INPUT);
}

void loop() 
{    
    int leftSensor = digitalRead(11);    
    int rightSensor = digitalRead(18);    
    
    if(leftSensor == LOW)    
    {        
        SmartInventor.DCMotor(M1, CW, 50); // Back up for 0.333 seconds        
        SmartInventor.DCMotor(M2, CCW, 50);        
        delay(333);        

        SmartInventor.DCMotor(M1, CCW, 50); // Turn right for .250 seconds        
        SmartInventor.DCMotor(M2, CCW, 50);        
        delay(250);    
    }    
    else if(rightSensor == LOW)    
    {        
        SmartInventor.DCMotor(M1, CW, 50); // Back up for 0.333 seconds        
        SmartInventor.DCMotor(M2, CCW, 50);        
        delay(333);        
        
        SmartInventor.DCMotor(M1, CW, 50); // Turn left for .250 seconds        
        SmartInventor.DCMotor(M2, CW, 50);        
        delay(250);    
    }    
    else    
    {        
        SmartInventor.DCMotor(M1, CCW, 50); // Go forward        
        SmartInventor.DCMotor(M2, CW, 50);    
    }
}