James Martel
Published © GPL3+

What Do I Build Next? A Sony Spresense Robot

Ultrasonic, bump switches and GPS are not sensitive enough to navigate households. Obstacles can move. No more "move, bump, learn, repeat."

AdvancedFull instructions provided7 days340
What Do I Build Next? A Sony Spresense Robot

Things used in this project

Hardware components

Spresense boards (main & extension)
Sony Spresense boards (main & extension)
×1
sony - Spresense Camera Board
×1
Adafruit - DC Motor Shield
×1
Dagu 4 Wheeled Chassis
×1
Jumper wires (generic)
Jumper wires (generic)
×1
Li-Ion Battery 1000mAh
Li-Ion Battery 1000mAh
×2
Adafruit- Li-Ion 5v Power Boost
×2
1Sheeld (Android shield for Arduino)
1Sheeld (Android shield for Arduino)
×1
SG90 Micro-servo motor
SG90 Micro-servo motor
×2
Adafruit 2 axis Pan-n-tilt
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
Seeed ultrasonic Sensor - PING 3pin-discontinued
×1

Software apps and online services

Arduino IDE
Arduino IDE
Nuttx OS
64bit Linux Ubuntu 16.04
Sony Spresense Arduino Library
AVS4YOU audio and video convertor

Story

Read more

Custom parts and enclosures

Spresense Hardware Design Files

These are Sony's Hardware Design drawings

Schematics

Spresense Main Board

This is signal layout overview
Overview hardware mainboard signal ygmcldtvcn ug9vrem5rb xrkq3sujj3

Spresense Dimensions

Sony Dimensional pictures
Spresenseboards hbrmkxqam7

Spresense Extension Board

Spresense Extension Board layout
Overview hardware extboard signal 2 bogumtxifn

Code

Revised Spresense Base Code

Arduino
/* 
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
It won't work with v1.x motor shields! Only for the v2's with built in PWM
control

For use with the Adafruit Motor Shield v2 
---->	http://www.adafruit.com/products/1438
*/
/*
modified 8 Nov 2013
  by Scott Fitzgerald
  http://www.arduino.cc/en/Tutorial/Sweep
 */

#include <Servo.h>

#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"

// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61); 

// Select which 'port' M1, M2, M3 or M4. In this case, M1
Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
// You can also make another motor on port M2
Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2);
Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);

Servo myservo;  // create servo object to control a servo
Servo myservo2;  // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position
int pos2 = 0;    // variable to store the servo position



void setup() {
  Serial.begin(9600);           // set up Serial library at 9600 bps
  Serial.println("Adafruit Motorshield v2 - DC Motor test!");

  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
  myservo2.attach(10);  // attaches the servo on pin 9 to the servo object  
  
  AFMS.begin();  // create with the default frequency 1.6KHz
  //AFMS.begin(1000);  // OR with a different frequency, say 1KHz
  
  // Set the speed to start, from 0 (off) to 255 (max speed)
  myMotor->setSpeed(25);
  myMotor2->setSpeed(25);
  myMotor3->setSpeed(25);
  myMotor4->setSpeed(25);
  myMotor->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  // turn on motor
  myMotor->run(RELEASE);
  myMotor2->run(RELEASE);
  myMotor3->run(RELEASE);
  myMotor4->run(RELEASE);
}

void loop() {
   for (pos = 100; pos <= 150; pos += 1) { // goes from 0 degrees to 180 degrees
     // in steps of 1 degree
     myservo.write(pos);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
   for (pos = 150; pos >= 100; pos -= 1) { // goes from 180 degrees to 0 degrees
     myservo.write(pos);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
      for (pos2 = 100; pos2 <= 150; pos2 += 1) { // goes from 0 degrees to 180 degrees
     // in steps of 1 degree
     myservo2.write(pos2);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
   for (pos2 = 150; pos2 >= 100; pos2 -= 1) { // goes from 180 degrees to 0 degrees
     myservo2.write(pos2);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
  
  uint8_t i;
  
  Serial.print("forward");

  myMotor->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("turnrightforward");

  myMotor->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(RELEASE);
  myMotor4->run(RELEASE);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("turnleftforward");

  myMotor->run(RELEASE);
  myMotor2->run(RELEASE);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

 

 
  Serial.print("backward");

  myMotor->run(BACKWARD);
  myMotor2->run(BACKWARD);
  myMotor3->run(BACKWARD);
  myMotor4->run(BACKWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("stop");
  myMotor->run(RELEASE);
  myMotor2->run(RELEASE);
  myMotor3->run(RELEASE);
  myMotor4->run(RELEASE);
  delay(10);

  Serial.print("pivotleft");

  myMotor->run(BACKWARD);
  myMotor2->run(BACKWARD);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("turnleftbackward");

  myMotor->run(BACKWARD);
  myMotor2->run(BACKWARD);
  myMotor3->run(RELEASE);
  myMotor4->run(RELEASE);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("turnrightbackward");

  myMotor->run(RELEASE);
  myMotor2->run(RELEASE);
  myMotor3->run(BACKWARD);
  myMotor4->run(BACKWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
// for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }



  Serial.print("pivotright");

  myMotor->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(BACKWARD);
  myMotor4->run(BACKWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }


}

Sound/Pitches

Arduino
/*************************************************
 * Public Constants
 *************************************************/

#define NOTE_B0  31
#define NOTE_C1  33
#define NOTE_CS1 35
#define NOTE_D1  37
#define NOTE_DS1 39
#define NOTE_E1  41
#define NOTE_F1  44
#define NOTE_FS1 46
#define NOTE_G1  49
#define NOTE_GS1 52
#define NOTE_A1  55
#define NOTE_AS1 58
#define NOTE_B1  62
#define NOTE_C2  65
#define NOTE_CS2 69
#define NOTE_D2  73
#define NOTE_DS2 78
#define NOTE_E2  82
#define NOTE_F2  87
#define NOTE_FS2 93
#define NOTE_G2  98
#define NOTE_GS2 104
#define NOTE_A2  110
#define NOTE_AS2 117
#define NOTE_B2  123
#define NOTE_C3  131
#define NOTE_CS3 139
#define NOTE_D3  147
#define NOTE_DS3 156
#define NOTE_E3  165
#define NOTE_F3  175
#define NOTE_FS3 185
#define NOTE_G3  196
#define NOTE_GS3 208
#define NOTE_A3  220
#define NOTE_AS3 233
#define NOTE_B3  247
#define NOTE_C4  262
#define NOTE_CS4 277
#define NOTE_D4  294
#define NOTE_DS4 311
#define NOTE_E4  330
#define NOTE_F4  349
#define NOTE_FS4 370
#define NOTE_G4  392
#define NOTE_GS4 415
#define NOTE_A4  440
#define NOTE_AS4 466
#define NOTE_B4  494
#define NOTE_C5  523
#define NOTE_CS5 554
#define NOTE_D5  587
#define NOTE_DS5 622
#define NOTE_E5  659
#define NOTE_F5  698
#define NOTE_FS5 740
#define NOTE_G5  784
#define NOTE_GS5 831
#define NOTE_A5  880
#define NOTE_AS5 932
#define NOTE_B5  988
#define NOTE_C6  1047
#define NOTE_CS6 1109
#define NOTE_D6  1175
#define NOTE_DS6 1245
#define NOTE_E6  1319
#define NOTE_F6  1397
#define NOTE_FS6 1480
#define NOTE_G6  1568
#define NOTE_GS6 1661
#define NOTE_A6  1760
#define NOTE_AS6 1865
#define NOTE_B6  1976
#define NOTE_C7  2093
#define NOTE_CS7 2217
#define NOTE_D7  2349
#define NOTE_DS7 2489
#define NOTE_E7  2637
#define NOTE_F7  2794
#define NOTE_FS7 2960
#define NOTE_G7  3136
#define NOTE_GS7 3322
#define NOTE_A7  3520
#define NOTE_AS7 3729
#define NOTE_B7  3951
#define NOTE_C8  4186
#define NOTE_CS8 4435
#define NOTE_D8  4699
#define NOTE_DS8 4978

GNSS_TRACKER data

Plain text
txt file of GPS data
$GPGGA,000003.00,,,,,0,00,,,,,,,*4B
$GPGGA,000004.00,,,,,0,00,,,,,,,*4C
$GPGGA,000005.00,,,,,0,00,,,,,,,*4D
$GPGGA,000006.00,,,,,0,00,,,,,,,*4E
$GPGGA,000007.00,,,,,0,00,,,,,,,*4F
$GPGGA,000008.00,,,,,0,00,,,,,,,*40
$GPGGA,000009.00,,,,,0,00,,,,,,,*41
$GPGGA,000010.00,,,,,0,00,,,,,,,*49
$GPGGA,000011.00,,,,,0,00,,,,,,,*48
$GPGGA,000012.00,,,,,0,00,,,,,,,*4B
$GPGGA,000013.00,,,,,0,00,,,,,,,*4A
$GPGGA,000014.00,,,,,0,00,,,,,,,*4D
$GPGGA,000015.00,,,,,0,00,,,,,,,*4C
$GPGGA,000016.00,,,,,0,00,,,,,,,*4F
$GPGGA,000017.00,,,,,0,00,,,,,,,*4E
$GPGGA,000018.00,,,,,0,00,,,,,,,*41
$GPGGA,000019.00,,,,,0,00,,,,,,,*40
$GPGGA,000020.00,,,,,0,00,,,,,,,*4A
$GPGGA,000021.00,,,,,0,00,,,,,,,*4B
$GPGGA,000022.00,,,,,0,00,,,,,,,*48
$GPGGA,000023.00,,,,,0,00,,,,,,,*49
$GPGGA,000024.00,,,,,0,00,,,,,,,*4E
$GPGGA,000025.00,,,,,0,00,,,,,,,*4F
$GPGGA,000026.00,,,,,0,00,,,,,,,*4C
$GPGGA,000027.00,,,,,0,00,,,,,,,*4D
$GPGGA,000028.00,,,,,0,00,,,,,,,*42
$GPGGA,000029.00,,,,,0,00,,,,,,,*43
$GPGGA,000030.00,,,,,0,00,,,,,,,*4B
$GPGGA,000031.00,,,,,0,00,,,,,,,*4A
$GPGGA,000032.00,,,,,0,00,,,,,,,*49
$GPGGA,000033.00,,,,,0,00,,,,,,,*48
$GPGGA,000034.00,,,,,0,00,,,,,,,*4F
$GPGGA,000035.00,,,,,0,00,,,,,,,*4E
$GPGGA,000036.00,,,,,0,00,,,,,,,*4D
$GPGGA,000037.00,,,,,0,00,,,,,,,*4C
$GPGGA,000038.00,,,,,0,00,,,,,,,*43
$GPGGA,000039.00,,,,,0,00,,,,,,,*42
$GPGGA,000040.00,,,,,0,00,,,,,,,*4C
$GPGGA,000041.00,,,,,0,00,,,,,,,*4D
$GPGGA,000042.00,,,,,0,00,,,,,,,*4E
$GPGGA,000043.00,,,,,0,00,,,,,,,*4F
$GPGGA,000044.00,,,,,0,00,,,,,,,*48
$GPGGA,000045.00,,,,,0,00,,,,,,,*49
$GPGGA,000046.00,,,,,0,00,,,,,,,*4A
$GPGGA,000047.00,,,,,0,00,,,,,,,*4B
$GPGGA,000048.00,,,,,0,00,,,,,,,*44
$GPGGA,000049.00,,,,,0,00,,,,,,,*45
$GPGGA,000050.00,,,,,0,00,,,,,,,*4D
$GPGGA,000051.00,,,,,0,00,,,,,,,*4C
$GPGGA,000052.00,,,,,0,00,,,,,,,*4F
$GPGGA,000053.00,,,,,0,00,,,,,,,*4E
$GPGGA,000054.00,,,,,0,00,,,,,,,*49
$GPGGA,000055.00,,,,,0,00,,,,,,,*48
$GPGGA,000056.00,,,,,0,00,,,,,,,*4B
$GPGGA,000057.00,,,,,0,00,,,,,,,*4A
$GPGGA,000058.00,,,,,0,00,,,,,,,*45
$GPGGA,000059.00,,,,,0,00,,,,,,,*44
$GPGGA,000100.00,,,,,0,00,,,,,,,*49
$GPGGA,000101.00,,,,,0,00,,,,,,,*48
$GPGGA,000102.00,,,,,0,00,,,,,,,*4B
$GPGGA,000103.00,,,,,0,00,,,,,,,*4A
$GPGGA,000104.00,,,,,0,00,,,,,,,*4D
$GPGGA,000105.00,,,,,0,00,,,,,,,*4C
$GPGGA,000106.00,,,,,0,00,,,,,,,*4F
$GPGGA,000107.00,,,,,0,00,,,,,,,*4E
$GPGGA,000108.00,,,,,0,00,,,,,,,*41
$GPGGA,000109.00,,,,,0,00,,,,,,,*40
$GPGGA,000110.00,,,,,0,00,,,,,,,*48
$GPGGA,000111.00,,,,,0,00,,,,,,,*49
$GPGGA,000112.00,,,,,0,00,,,,,,,*4A
$GPGGA,000113.00,,,,,0,00,,,,,,,*4B
$GPGGA,123525.42,4234.6668,N,07148.2485,W,1,03,2.7,40.0,M,,M,,*58
$GPGGA,123526.00,4234.6668,N,07148.2485,W,1,03,2.7,40.0,M,,M,,*5D
$GPGGA,123527.00,4234.6638,N,07148.2471,W,1,03,2.7,40.0,M,,M,,*52
$GPGGA,123528.00,4234.6652,N,07148.2463,W,1,03,2.7,40.0,M,,M,,*52
$GPGGA,123529.00,4234.6657,N,07148.2468,W,1,03,2.7,40.0,M,,M,,*5D
$GPGGA,123530.00,4234.6667,N,07148.2465,W,1,03,2.7,40.0,M,,M,,*5B
$GPGGA,123531.00,4234.6676,N,07148.2463,W,1,03,2.7,40.0,M,,M,,*5C
$GPGGA,123532.00,4234.6682,N,07148.2461,W,1,06,1.6,209.8,M,,M,,*66
$GPGGA,123533.00,4234.6696,N,07148.2496,W,1,06,1.6,191.9,M,,M,,*69
$GPGGA,123534.00,4234.6704,N,07148.2507,W,1,06,1.6,183.4,M,,M,,*63
$GPGGA,123535.00,4234.6718,N,07148.2513,W,1,06,1.6,180.3,M,,M,,*6E
$GPGGA,123536.00,4234.6723,N,07148.2518,W,1,06,1.6,179.7,M,,M,,*6C
$GPGGA,123537.00,4234.6723,N,07148.2520,W,1,06,1.6,179.3,M,,M,,*62
$GPGGA,123538.00,4234.6727,N,07148.2521,W,1,06,1.6,177.9,M,,M,,*6C
$GPGGA,123539.00,4234.6725,N,07148.2522,W,1,06,1.6,177.3,M,,M,,*66
$GPGGA,123540.00,4234.6724,N,07148.2520,W,1,06,1.6,175.8,M,,M,,*62
$GPGGA,123541.00,4234.6722,N,07148.2520,W,1,06,1.6,174.7,M,,M,,*6B
$GPGGA,123542.00,4234.6720,N,07148.2518,W,1,06,1.6,176.4,M,,M,,*60
$GPGGA,123543.00,4234.6723,N,07148.2520,W,1,06,1.6,175.0,M,,M,,*6E
$GPGGA,123544.00,4234.6724,N,07148.2525,W,1,06,1.6,178.0,M,,M,,*66
$GPGGA,123545.00,4234.6719,N,07148.2533,W,1,06,1.6,180.6,M,,M,,*6F
$GPGGA,123546.00,4234.6717,N,07148.2541,W,1,08,1.1,180.3,M,,M,,*6B
$GPGGA,123547.00,4234.6716,N,07148.2548,W,1,08,1.1,182.2,M,,M,,*61
$GPGGA,123548.00,4234.6715,N,07148.2550,W,1,08,1.1,183.0,M,,M,,*67
$GPGGA,123549.00,4234.6714,N,07148.2551,W,1,08,1.1,182.6,M,,M,,*61
$GPGGA,123550.00,4234.6715,N,07148.2552,W,1,08,1.1,182.0,M,,M,,*6D
$GPGGA,123551.00,4234.6715,N,07148.2552,W,1,08,1.1,185.6,M,,M,,*6D
$GPGGA,123552.00,4234.6713,N,07148.2551,W,1,08,1.1,186.8,M,,M,,*66
$GPGGA,123553.00,4234.6713,N,07148.2552,W,1,08,1.1,188.4,M,,M,,*66
$GPGGA,123554.00,4234.6711,N,07148.2552,W,1,08,1.1,186.0,M,,M,,*69
$GPGGA,123555.00,4234.6710,N,07148.2550,W,1,08,1.1,184.9,M,,M,,*60
$GPGGA,123556.00,4234.6709,N,07148.2549,W,1,08,1.1,184.1,M,,M,,*6B
$GPGGA,123557.00,4234.6708,N,07148.2547,W,1,08,1.1,185.3,M,,M,,*66
$GPGGA,123558.00,4234.6706,N,07148.2545,W,1,08,1.1,186.0,M,,M,,*65
$GPGGA,123559.00,4234.6707,N,07148.2544,W,1,08,1.1,183.9,M,,M,,*68
$GPGGA,123600.00,4234.6707,N,07148.2543,W,1,08,1.1,182.2,M,,M,,*6A
$GPGGA,123601.00,4234.6711,N,07148.2541,W,1,08,1.1,183.8,M,,M,,*65
$GPGGA,123602.00,4234.6710,N,07148.2541,W,1,08,1.1,183.1,M,,M,,*6E
$GPGGA,123603.00,4234.6710,N,07148.2544,W,1,08,1.1,178.8,M,,M,,*67
$GPGGA,123604.00,4234.6709,N,07148.2547,W,1,08,1.1,178.9,M,,M,,*6A
$GPGGA,123605.00,4234.6709,N,07148.2547,W,1,08,1.1,180.1,M,,M,,*64
$GPGGA,123606.00,4234.6709,N,07148.2546,W,1,08,1.1,182.3,M,,M,,*66
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$GPGGA,123859.00,4234.6860,N,07148.2619,W,1,07,1.5,175.1,M,,M,,*6A
$GPGGA,123900.00,4234.6860,N,07148.2619,W,0,00,1.5,175.1,M,,M,,*61
$GPGGA,123901.00,4234.6860,N,07148.2619,W,0,00,1.5,174.9,M,,M,,*69
$GPGGA,123902.00,4234.6860,N,07148.2619,W,0,00,1.5,174.9,M,,M,,*6A
$GPGGA,123903.00,4234.6860,N,07148.2619,W,0,00,1.5,174.9,M,,M,,*6B
$GPGGA,123904.00,4234.6860,N,07148.2619,W,0,00,1.5,175.2,M,,M,,*66
$GPGGA,123905.00,4234.6860,N,07148.2619,W,0,00,1.5,175.2,M,,M,,*67
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$GPGGA,123908.00,4234.6860,N,07148.2619,W,0,00,1.5,175.4,M,,M,,*6C
$GPGGA,123909.00,4234.6860,N,07148.2619,W,0,00,1.5,175.6,M,,M,,*6F
$GPGGA,123910.00,4234.6860,N,07148.2619,W,0,00,1.5,175.7,M,,M,,*66
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$GPGGA,123914.00,4234.6860,N,07148.2619,W,0,00,1.5,175.8,M,,M,,*6D
$GPGGA,123915.00,4234.6860,N,07148.2619,W,0,00,1.5,175.6,M,,M,,*62
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$GPGGA,123918.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6C
$GPGGA,123919.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6D
$GPGGA,123920.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*67
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$GPGGA,123933.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*65
$GPGGA,123934.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*62
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$GPGGA,123938.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6E
$GPGGA,123939.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6F
$GPGGA,123940.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*61
$GPGGA,123941.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*60
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$GPGGA,124006.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6D
$GPGGA,124007.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6C
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$GPGGA,124011.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6B
$GPGGA,124012.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*68
$GPGGA,124013.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*69
$GPGGA,124014.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6E
$GPGGA,124015.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6F
$GPGGA,124016.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6C
$GPGGA,124017.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6D
$GPGGA,124018.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*62
$GPGGA,124019.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*63
$GPGGA,124020.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*69
$GPGGA,124021.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*68
$GPGGA,124022.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6B
$GPGGA,124023.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6A
$GPGGA,124024.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6D
$GPGGA,124025.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6C

1st GNSS header

Plain text
data acquired
Please specify the operation mode.
  0:Run positioning. Output NMEA text.

set mode : 0
; Satellite system(GPS/GLONASS/SBAS/QZSS_L1CA/QZSS_L1S)
SatelliteSystem=GPS+GLONASS+QZSS_L1CA
; Output NMEA message to UART(TRUE/FALSE)
NmeaOutUart=TRUE
; Output NMEA message to file(TRUE/FALSE)
NmeaOutFile=TRUE
; Output binary data to file(TRUE/FALSE)
BinaryOut=FALSE
; Positioning interval sec(1-300)
IntervalSec=1
; Positioning active sec(60-300)
ActiveSec=60
; Positioning sleep sec(0-240)
SleepSec=240
; Uart debug message(NONE/ERROR/WARNING/INFO)
UartDebugMessage=NONE
; EOF

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$GPGGA,191520.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191521.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191522.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191523.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191524.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191525.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191526.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191527.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191528.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191529.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191530.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191531.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191532.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191533.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191534.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191535.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191536.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191537.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191538.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191539.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191540.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191541.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191542.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191543.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191544.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191545.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191546.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191547.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191548.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*55
$GPGGA,191549.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*54
$GPGGA,191550.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191551.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191552.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191553.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191554.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191555.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191556.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191557.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191558.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*54
$GPGGA,191559.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*55
$GPGGA,191600.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191601.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191602.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191603.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191604.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191605.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191606.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191607.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191608.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191609.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191610.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191611.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191612.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191613.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191614.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191615.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191616.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191617.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191618.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191619.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191620.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191621.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191622.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191623.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191624.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191625.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191626.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191627.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
Sleep in.

Obstacle avoidance code combined with base code

Arduino
code under
/* 
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
It won't work with v1.x motor shields! Only for the v2's with built in PWM
control

For use with the Adafruit Motor Shield v2 
---->	http://www.adafruit.com/products/1438
*/
/*
modified 8 Nov 2013
  by Scott Fitzgerald
  http://www.arduino.cc/en/Tutorial/Sweep
 */

#include <Servo.h>

#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"

// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61); 

// Select which 'port' M1, M2, M3 or M4. In this case, M1
Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
// You can also make another motor on port M2
Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2);
Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);

Servo myservo;  // create servo object to control a servo
Servo myservo2;  // create servo object to control a servo
// twelve servo objects can be created on most boards

int pos = 0;    // variable to store the servo position
int pos2 = 0;    // variable to store the servo position



void setup() {
  Serial.begin(9600);           // set up Serial library at 9600 bps
  Serial.println("Adafruit Motorshield v2 - DC Motor test!");

  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
  myservo2.attach(10);  // attaches the servo on pin 9 to the servo object  
  
  AFMS.begin();  // create with the default frequency 1.6KHz
  //AFMS.begin(1000);  // OR with a different frequency, say 1KHz
  
  // Set the speed to start, from 0 (off) to 255 (max speed)
  myMotor->setSpeed(25);
  myMotor2->setSpeed(25);
  myMotor3->setSpeed(25);
  myMotor4->setSpeed(25);
  myMotor->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  // turn on motor
  myMotor->run(RELEASE);
  myMotor2->run(RELEASE);
  myMotor3->run(RELEASE);
  myMotor4->run(RELEASE);
}

void loop() {
   for (pos = 100; pos <= 150; pos += 1) { // goes from 0 degrees to 180 degrees
     // in steps of 1 degree
     myservo.write(pos);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
   for (pos = 150; pos >= 100; pos -= 1) { // goes from 180 degrees to 0 degrees
     myservo.write(pos);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
      for (pos2 = 100; pos2 <= 150; pos2 += 1) { // goes from 0 degrees to 180 degrees
     // in steps of 1 degree
     myservo2.write(pos2);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
   for (pos2 = 150; pos2 >= 100; pos2 -= 1) { // goes from 180 degrees to 0 degrees
     myservo2.write(pos2);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
  
  uint8_t i;
  
  Serial.print("forward");

  myMotor->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("turnrightforward");

  myMotor->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(RELEASE);
  myMotor4->run(RELEASE);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("turnleftforward");

  myMotor->run(RELEASE);
  myMotor2->run(RELEASE);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

 

 
  Serial.print("backward");

  myMotor->run(BACKWARD);
  myMotor2->run(BACKWARD);
  myMotor3->run(BACKWARD);
  myMotor4->run(BACKWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("stop");
  myMotor->run(RELEASE);
  myMotor2->run(RELEASE);
  myMotor3->run(RELEASE);
  myMotor4->run(RELEASE);
  delay(10);

  Serial.print("pivotleft");

  myMotor->run(BACKWARD);
  myMotor2->run(BACKWARD);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("turnleftbackward");

  myMotor->run(BACKWARD);
  myMotor2->run(BACKWARD);
  myMotor3->run(RELEASE);
  myMotor4->run(RELEASE);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }

  Serial.print("turnrightbackward");

  myMotor->run(RELEASE);
  myMotor2->run(RELEASE);
  myMotor3->run(BACKWARD);
  myMotor4->run(BACKWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
// for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }



  Serial.print("pivotright");

  myMotor->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(BACKWARD);
  myMotor4->run(BACKWARD);
  for (i=0; i<50; i++) {
    myMotor->setSpeed(50);
    myMotor2->setSpeed(50);
    myMotor3->setSpeed(50);
    myMotor4->setSpeed(50);  
    delay(10);
  }
//  for (i=50; i!=0; i--) {
//    myMotor->setSpeed(50);
//    myMotor2->setSpeed(50);
//    myMotor3->setSpeed(50);
//    myMotor4->setSpeed(50);  
//    delay(10);
//  }


}

Base UNO, Adafruit motor shield, pan-n-tilt, controlled by 1Sheeld

Arduino
This is base code for controlling DEMO hardware before Spresense arrives-does not have Ultrasonic sensor portion
/*Gamepad Shield Example
This example shows an application on 1Sheeld's gamepad shield.Listing from https://www.hackster.io/13766/super-easy-to-build-1sheeld-2-wheel-drive-robot-cb9b66

******* This is modified to use the adafruit motorshield V2.3 Created by Garry Grewer, *********
/*
        Pan-Tilt Controlled by Cell Phone
             by LAGSILVA - 14.Feb.2016
  (Application supported by 1SHEELD-Android for Arduino UNO)

  PS: X-axis ranges from 0 to 360 degrees, Y-axis ranges from -180 to 180 degrees
  and Z-axis ranges from -90 to 90 degrees.

*/

/*
        Pan-Tilt Controlled by Cell Phone
             by LAGSILVA - 14.Feb.2016
  (Application supported by 1SHEELD-Android for Arduino UNO)

  PS: X-axis ranges from 0 to 360 degrees, Y-axis ranges from -180 to 180 degrees
  and Z-axis ranges from -90 to 90 degrees.

*/
int ledPin = 13;
#define CUSTOM_SETTINGS
#define INCLUDE_ORIENTATION_SENSOR_SHIELD
#define INCLUDE_GAMEPAD_SHIELD

#include <OneSheeld.h>    // Include 1Sheeld Library
#include <Servo.h>        // Include Servo Library
#include <Adafruit_MotorShield.h> //for v2.3 motorshield

Adafruit_MotorShield AFMS = Adafruit_MotorShield();

// Motor objects, motor number on the motor shield board
Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
Adafruit_DCMotor *myOtherMotor = AFMS.getMotor(2);
Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
Adafruit_DCMotor *myOtherMotor4 = AFMS.getMotor(4);

Servo myservoX;           // Create servo object to control Orientation X
Servo myservoY;           // Create servo object to control Orientation Y

float angleX, angleXi, angleY;
float angleYi = -35;      // This value must be set with a trial to align the "zero" angle of your Tilt. In my case I used -35 for compensation.
boolean k = true;

void setup()
{

  OneSheeld.begin();
 AFMS.begin();

// The LED just works as an indicator that the 1Sheeld is working fine
pinMode(ledPin, OUTPUT);
myMotor->setSpeed(150);
myOtherMotor->setSpeed(150);
myMotor3->setSpeed(150);
myOtherMotor4->setSpeed(150); 
  OrientationSensor.setOnValueChange(readAngleXi);

  myservoX.attach(9);    // Servo2 (in the Motor Shield) of Axix X (PAN)  - connected to Analogic Pin 09 of Arduino
  myservoY.attach(10);   // Servo1 (in the Motor Shield) of Axix Y (TILT) - connected to Analogic Pin 10 of Arduino

}


void loop()
{

  angleX = -OrientationSensor.getX();
  angleX = angleX - angleXi + 90;
  if (angleX < 0) {
    angleX = angleX + 360;
  }
  if (angleX > 360) {
    angleX = angleX - 360;
  }
  angleX = constrain(angleX, 0, 180);

  myservoX.write(angleX);
  delay(15);

  angleY = -OrientationSensor.getY();
  angleY = 180 - (angleY - angleYi);
  angleY = constrain(angleY, -30, 150);
  myservoY.write(angleY);
  delay(15);
/* Always check the status of gamepad buttons. */
if (GamePad.isDownPressed())
{
myMotor->run(BACKWARD);
myOtherMotor->run(BACKWARD);
myMotor3->run(BACKWARD);
myOtherMotor4->run(BACKWARD);

digitalWrite(ledPin, HIGH);
}
else if (GamePad.isUpPressed())
{
myMotor->run(FORWARD);
myOtherMotor->run(FORWARD);
myMotor3->run(FORWARD);
myOtherMotor4->run(FORWARD);

digitalWrite(ledPin, HIGH);
}
else if (GamePad.isLeftPressed())
{
myMotor->run(BACKWARD);
myOtherMotor->run(BACKWARD);
myMotor3->run(FORWARD);
myOtherMotor4->run(FORWARD);

digitalWrite(ledPin, HIGH);
}
else if (GamePad.isRightPressed())
{
myMotor->run(FORWARD);
myOtherMotor->run(FORWARD);
myMotor3->run(BACKWARD);
myOtherMotor4->run(BACKWARD);

digitalWrite(ledPin, HIGH);
}
else
{
myMotor->run(RELEASE);
myOtherMotor->run(RELEASE);
myMotor3->run(RELEASE);
myOtherMotor4->run(RELEASE);

digitalWrite(ledPin, LOW);
}

}

void readAngleXi(float xAxis, float yAxis, float zAxis)
{
  if (k) {
    angleXi = -xAxis;
    k = false;
  }

}
void loop2()
{

}

Sony Spresense Repository-Arduino

GitHub development software

Sony Spresense Repository-Nuttx

Sony Spresense Nuttx development software

Arduino development sketches

Sony Spresense Arduino development sketches

Sony Spresense Repository

Sony Spresense source code

Credits

James Martel

James Martel

19 projects • 22 followers
Self taught Robotics platform developer with electronics background

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