Engel Algılayan Robot Araba

cunkurd

Yüzbaşı

356 Mesaj

Tüm Başarılarını Gör

Sevgili genç dostlarım,
Uzun süren bir çabadan sonra ,benim için zor olan engel algılayan robot araba yapmayı başardım.
Zar zor bu donanıma uyan Arduino platformunda çalışan programını da netten bulup,yükledim.
Araba çalıştı fakat otonom kendi kendine çalışan araba oldu.Ben bunu kızıl ötesi uzaktan kumandalı
hale nasıl getirebilirim bir türlü yapamadım çünkü, programlama bilgim yok, bu yüzden yardımlarınızı
bekliyorum.
Yazılımı şöyle:

// Written by Hossam Hamed
// Adafruit Motor shield library
// copyright Adafruit Industries LLC, 2009
// this code is public domain, enjoy!
//#include <IRremote.h>
#include <AFMotor.h>
#include <Servo.h>
#include <NewPing.h>
#define PING_PIN A0
// Arduino pin tied to both trigger and echo pins on the ultrasonic sensor.
#define MAX_DISTANCE 200
// Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.

NewPing sonar(PING_PIN, PING_PIN, MAX_DISTANCE);
// NewPing setup of pin and maximum distance.

AF_DCMotor motor1(1), motor2(2), motor3(3), motor4(4);
Servo servo1;
unsigned int vDistance, vDistanceR, vDistanceR_h, vDistanceL, vDistanceL_h, maxDistance, goDirection;

void moveRight(int v_time, int v_speed = 255);
void moveLeft(int v_time, int v_speed = 255);
void stopMotors();
void moveForward(int v_time = 0, int v_speed = 255);
void moveBackward(int v_time = 0, int v_speed = 255);
void lookStrait();
void lookLeft( int v_angle = 135);
void lookRight( int v_angle = 45);

void setup() {
Serial.begin(9600); // set up Serial library at 9600 bps
//irrecv.enableIRIn(); // Start the receiver
servo1.attach(9);
lookStrait();
delay(1000);
}
// Values for GoDirection
// 1 -> 45 Right
// 2 -> 0 Right
// 3 -> 135 left
// 4 -> 180 left

// Main program loop
void loop() {
RobotFuntion();
} //End Loop

// Functions declaration
void RobotFuntion() {
vDistance = getDistance();
Serial.print("\nDistance = ");
Serial.print(vDistance);

if ( vDistance <= 20 ) {
moveBackward(300, 180);
}

if (vDistance < 30) {
stopMotors();

lookRight(45);
delay(300);
vDistanceR_h = getDistance();
maxDistance = vDistanceR_h;
goDirection = 1;

lookRight(0);
delay(300);
vDistanceR = getDistance();

if (vDistanceR > maxDistance) {
maxDistance = vDistanceR;
goDirection = 2;
}

lookLeft(135);
delay(300);
vDistanceL_h = getDistance();
if (vDistanceL_h > maxDistance) {
maxDistance = vDistanceL_h;
goDirection = 3;
}
lookLeft(180);
delay(300);
vDistanceL = getDistance();
if (vDistanceL > maxDistance) {
maxDistance = vDistanceL;
goDirection = 4;
}

lookStrait(); // Look Strait again
delay(300);

if (goDirection == 1 ) {
moveRight(200);
moveForward(0, 128);
}
else if (goDirection == 2) {
moveRight(400);
moveForward(0, 128);
}

else if (goDirection == 3) {
moveLeft(200);
moveForward(0, 128);
}
else if (goDirection == 4) {
moveLeft(400);
moveForward(0, 128);
}
} // End If
else {
moveForward(0, 128);
}
//delay(1000);

} // End RobotFunction

unsigned int getDistance() {
unsigned int my_cm;
unsigned int uS;
uS = sonar.ping_median();
my_cm = sonar.convert_cm(uS);
if (my_cm == 0)
my_cm = MAX_DISTANCE;
return my_cm;
}

void stopMotors() {
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
}

void moveForward(int v_time, int v_speed) {
motor1.setSpeed(v_speed);
motor2.setSpeed(v_speed);
motor3.setSpeed(v_speed);
motor4.setSpeed(v_speed);

motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
void moveBackward(int v_time, int v_speed) {
motor1.setSpeed(v_speed);
motor2.setSpeed(v_speed);
motor3.setSpeed(v_speed);
motor4.setSpeed(v_speed);
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
delay(v_time);
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
}
void moveLeft(int v_time, int v_speed) {
motor1.setSpeed(v_speed);
motor2.setSpeed(v_speed);
motor3.setSpeed(v_speed);
motor4.setSpeed(v_speed);
motor2.run(FORWARD);
motor1.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(BACKWARD);

delay(v_time);
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
}
void moveRight(int v_time, int v_speed) {
motor1.setSpeed(v_speed);
motor2.setSpeed(v_speed);
motor3.setSpeed(v_speed);
motor4.setSpeed(v_speed);

motor1.run(FORWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(FORWARD);

delay(v_time);
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
}

void lookStrait() {
servo1.write(92);
}

void lookLeft( int v_angle) {
servo1.write(v_angle);
}
void lookRight( int v_angle) {
servo1.write(v_angle);
}

Infra red kumandamın kodları ise şöyle

forward 0xFF629D
left 0xFF22DD
Right 0xFFC23D
Backward 0xFFA857
Okey 0xFF02FD

Uzaktan kumanda için hangi kodları ,nasıl yazılıma ekleyebileceğimi bana yazarsanız çok makbüle geçer.
Buda arabamın resmi ona birde ad koydum :)) Adı George.

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