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Το ρομπότ “Fire. Explorer” σε Arduino

Το ρομπότ “Fire. Explorer” σε Arduino

Το ρομπότ “Fire. Explorer” σε Arduino

Το ρομπότ “Fire. Explorer” σε Arduino

Το πρόγραμμα “Fire. Explorer” σε Wiring C (Arduino) • • /* RC looking around with ultrasound on a servo and turning to the direction of longest distance from an obstacle. In addition to that, RC has moustache type two switches -->right touch or closing circuit lights the blue LED on and makes a left turn -->left touch or closing circuit lights the red LED on and makes a right turn */ #include <Servo. h> #include "AFMotor. h" • • AF_DCMotor motor 1(1, MOTOR 12_64 KHZ); AF_DCMotor motor 2(2, MOTOR 12_64 KHZ); • • • Servo servo. HEAD; #define echo. Pin 14 // Echo Pin #define trig. Pin 15 // Trigger Pin • • • const int ledfire = 20; // choose the pin for the LEDs const input. LEFT = 16; // choose the input pin (for a pushbutton) const input. RIGHT = 17; • • • int minimum. Range = 40; // Minimum range needed long duration, distance; // Duration used to calculate distance int max. Distance[30]; int max. D=1; int i, vector, pos, time; • • • //##########################################/ void setup() { Serial. begin (9600); pin. Mode(trig. Pin, OUTPUT); pin. Mode(echo. Pin, INPUT); pin. Mode(ledfire, OUTPUT); // declare LED as output pin. Mode(input. LEFT, INPUT); // declare pushbutton as input pin. Mode(input. RIGHT, INPUT); motor 1. set. Speed(170); motor 2. set. Speed(170); servo. HEAD. attach(10);

Το πρόγραμμα “Fire. Explorer” σε Wiring C (Arduino) • } • • • //##########################################/ void loop() { • • • /*********************/ • • if (distance <= minimum. Range && distance > 20) { motor 1. run(RELEASE); motor 2. run(RELEASE); • • • • • i=0; servo. HEAD. write(90); moustache(); //@@@@@@@@@@ find_distance(); control_minimum_distance(); for(pos = 0; pos < 180; pos= pos + 6) { i=i+1; servo. HEAD. write(pos); find_distance(); max. Distance[i]=distance; if(max. Distance[i]> max. D) {max. D = max. Distance[i]; vector = pos; delay(30); } servo. HEAD. write(90); } /* for(pos = 180; pos>=1; pos= pos - 6) { i = i+1;

Το πρόγραμμα “Fire. Explorer” σε Wiring C (Arduino) • • • • • servo. HEAD. write(pos); find_distance(); max. Distance[i]=distance; if(max. Distance[i]> max. D) {max. D = max. Distance[i]; vector = pos; delay(30); }*/ //} Serial. print("max. D= "); Serial. println(max. D); Serial. print(" At an angle: "); Serial. println(vector); /********************/ if(vector<90) { time = vector*(500/90); • • motor 2. run(BACKWARD); motor 1. run(FORWARD); moustache(); //@@@@@@@@@@ delay(time); } if(vector>=90) { time = (vector-90)*(500/90); • • • motor 1. run(BACKWARD); motor 2. run(FORWARD); moustache(); //@@@@@@@@@@ delay(time); } Serial. print(" --------- time = "); Serial. println(time); } else {

Το πρόγραμμα “Fire. Explorer” σε Wiring C (Arduino) • • • • • • • • • if (distance >= minimum. Range) { motor 1. run(BACKWARD); motor 2. run(BACKWARD); moustache(); //@@@@@@@@@@ } Serial. print("distance>maximum****** ="); Serial. println(distance); } //getting the voltage reading from the temperature sensor int reading = analog. Read(sensor. Pin); // converting that readbbbbbbbbing to voltage, for 3. 3 v arduino use 3. 3 float voltage = reading * 5. 0; voltage /= 1024. 0; // print out the voltage Serial. print(voltage); Serial. println(" volts"); // now print out the temperature float temperature. C = (voltage - 0. 5) * 100 ; //converting from 10 mv per degree wit 500 m. V offset //to degrees ((voltage - 500 m. V) times 100) Serial. print(temperature. C); Serial. println(" degrees C"); if(temperature. C >= 19) { motor 1. run(BACKWARD); motor 2. run(BACKWARD); delay(1000) motor 1. run(RELEASE); motor 2. run(RELEASE); digital. Write(ledfire, HIGH); } else {

Το πρόγραμμα “Fire. Explorer” σε Wiring C (Arduino) • • digital. Write(ledfire, LOW); } delay(1000); //waiting a second } //##########################################/ • • • void find_distance() { • • • digital. Write(trig. Pin, HIGH); delay. Microseconds(10); //Calculate the distance (in cm) based on the speed of sound. distance = duration/58. 2; } • //##########################################/ • • • • void control_minimum_distance() { if(distance<20) { motor 1. run(RELEASE); motor 2. run(RELEASE); digital. Write(trig. Pin, LOW); delay. Microseconds(2); digital. Write(trig. Pin, LOW); duration = pulse. In(echo. Pin, HIGH); while (distance<20) { motor 1. run(FORWARD); motor 2. run(FORWARD); delay(50); find_distance(); }

Το πρόγραμμα “Fire. Explorer” σε Wiring C (Arduino) • • • • • • • } //##########################################/ void moustache() { int val 1 = digital. Read(input. LEFT); // read input value int val 2 = digital. Read(input. RIGHT); if (val 1 == HIGH) // check if the input is HIGH { motor 1. run(RELEASE); motor 2. run(BACKWARD); // and in that case turns right motor 1. run(FORWARD); delay(500); } else { servo. HEAD. write(90); } • • • • if (val 2 == HIGH) // check if the input is HIGH { motor 1. run(RELEASE); motor 2. run(RELEASE); motor 1. run(BACKWARD); motor 2. run(FORWARD); delay(500); } else { servo. HEAD. write(90); } } } else { motor 1. run(BACKWARD); motor 2. run(BACKWARD); moustache(); //@@@@@@@@@@ }