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## Example files for the title:  

# Make a Mind-Controlled Arduino Robot, by Tero Karvinen

[![Make a Mind-Controlled Arduino Robot, by Tero Karvinen](http://akamaicovers.oreilly.com/images/9781449311537/cat.gif)](https://www.safaribooksonline.com/library/view/title/9781449312800//)

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Here is the example code for Make a Mind-Controlled Arduino Robot. The authors also maintain a site, http://Mindcontrol.Botbook.com, where you can more information on the book, including a copy of this sample code. From time-to-time, the author's copy of the sample code may be more up-to-date than what you find in this directory.

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Source code for the book "Make a Mind Controlled Arduino Robot" 

http://MindControl.BotBook.com (c) Kimmo Karvinen & Tero Karvinen

Think about it - and it moves. Think harder, the robot moves faster. 

But don't worry; as a robot it knows to avoid the black border so it 

doesn't fall off the table.

"Make a Mind Controlled Arduino Robot" shows you how to build your 

own. You learn to measure attention level with a NeuroSky headband and

send this information into Arduino. You will also build a 

line-avoiding system into the bot. And, of course, you will build the 

chassis of your robot from scratch.

http://www.amazon.com/gp/product/1449311547?ie=UTF8&tag=sulautetut-20&linkCode=as2&camp=1789&creative=390957&creativeASIN=1449389716

// allbutmind.pde - a mind controlled robot without mind control 

// (c) Tero Karvinen & Kimmo Karvinen http://MindControl.BotBook.com

const int linePin=4;

const int servoLeftPin=3;

const int servoRightPin=2;

const int potPin=A0;

const int redPin=9;

const int greenPin=10;

const int bluePin=11;

const float potMin=14.0-1;        // <1>

const float potMax=236.0-5;

const int speakerPin=12;

float speed=0.0;        // <2>

void setup()

{

        pinMode(linePin, INPUT);

        pinMode(servoLeftPin, OUTPUT);

        pinMode(servoRightPin, OUTPUT);

        pinMode(potPin, INPUT);

        digitalWrite(potPin, HIGH); // internal pullup

        pinMode(speakerPin, OUTPUT);

        sayReady();        // <3>

}

void loop()

{

        while (lineDetected()) turn();

        float at=getAttention();        // <4>

        float tr=getThreshold();        // <5>

        speed=fakeInertia(speed, at, tr);        // <6>

        forward(speed);

}

float fakeInertia(float speed, float at, float tr)

{

        if (at<tr)         // <7>

                speed-=0.05;

        else

                speed=at;        // <8>

        if (speed<0) speed=0.0;        // <9>

        return speed;

}

/*** Inputs ***/

bool lineDetected()

{

        return ! digitalRead(linePin);

}

float getAttention()

{

        return 0.5; // dummy value for testing        // <10>

}

float getThreshold()

{

        int x=analogRead(potPin);        // <11>

        float tr=(x-potMin)/potMax;      // <12>

        setBlueToRed(tr);

        return tr;

}

/*** Outputs ***/

void forward(float speed)

{

        for (int i = 0; i < 10; i++) { 

                pulseServo(servoLeftPin, 1500+500*speed);

                pulseServo(servoRightPin, 1500-500*speed);

        }

}

void turn()

{

        for (int i = 0; i < 30; i++) {

                pulseServo(servoLeftPin, 1500+500);

                pulseServo(servoRightPin, 1500+500);

        }

}

void pulseServo(int pin, int microseconds)

{

        digitalWrite(pin, HIGH);

        delayMicroseconds(microseconds);

        digitalWrite(pin, LOW);

        delay(5);

}

void setBlueToRed(float redPercent)

{

        int red=redPercent*255;        // <13>

        int blue=(1-redPercent)*255;

        setColor(red, 0, blue);

}

void setColor(int red, int green, int blue)

{

        analogWrite(redPin, 255-red);

        analogWrite(greenPin, 255-green);

        analogWrite(bluePin, 255-blue);

}

void sayReady()

{

        wave(speakerPin, 440, 40);

        delay(25);

        wave(speakerPin, 300, 20);

        wave(speakerPin, 540, 40);

        delay(25);

        wave(speakerPin, 440, 20);

        wave(speakerPin, 640, 40);

        delay(25);

        wave(speakerPin, 540, 40);

        delay(25);

}

void wave(int pin, float frequency, int duration)

{

        float period = 1/frequency * 1000 * 1000; // microseconds

        long int startTime = millis();

        while (millis()-startTime < duration) {

                digitalWrite(pin, HIGH);

                delayMicroseconds(period / 2);

                digitalWrite(pin, LOW);

                delayMicroseconds(period / 2);

        }

}