Робот на ардуинке.
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Ср, 20/09/2017 - 01:49
Здраствуйте!
Извините за тупие вопросы!) нужна помощь с скетчем.
Вот есть такой скетч.
#include <AFMotor.h>
#include <Servo.h>
#include <NewPing.h>
#define TRIG_PIN A4 // Pin A4 on the Motor Drive Shield soldered to the ultrasonic sensor
#define ECHO_PIN A5 // Pin A5 on the Motor Drive Shield soldered to the ultrasonic sensor
#define MAX_DISTANCE_POSSIBLE 1000 // sets maximum useable sensor measuring distance to 200cm
#define MAX_SPEED 120 // sets speed of DC traction motors to 180/256 or about 70% of full speed - to get power drain down.
#define MOTORS_CALIBRATION_OFFSET 3 // this sets offset to allow for differences between the two DC traction motors
#define COLL_DIST 20 // sets distance at which robot stops and reverses to 10cm
#define TURN_DIST COLL_DIST+10 // sets distance at which robot looks away from object (not reverse) to 20cm (10+10)
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE_POSSIBLE); // sets up sensor library to use the correct pins to measure distance.
AF_DCMotor leftMotor(1, MOTOR12_1KHZ); // create motor #1 using M1 output on Motor Drive Shield, set to 1kHz PWM frequency
AF_DCMotor rightMotor(4, MOTOR34_1KHZ); // create motor #2, using M2 output, set to 1kHz PWM frequency
Servo neckControllerServoMotor; // create servo object to control a servo
int pos = 0; // this sets up variables for use in the sketch (code)
int maxDist = 0;
int maxAngle = 0;
int maxRight = 0;
int maxLeft = 0;
int maxFront = 0;
int course = 0;
int curDist = 0;
String motorSet = "";
int speedSet = 0;
//-------------------------------------------- SETUP LOOP ----------------------------------------------------------------------------
void setup() {
neckControllerServoMotor.attach(9); // attaches the servo on pin 9 (SERVO_2 on the Motor Drive Shield to the servo object
neckControllerServoMotor.write(90); // tells the servo to position at 90-degrees ie. facing forward.
delay(2000); // delay for two seconds
checkPath(); // run the CheckPath routine to find the best path to begin travel
motorSet = "FORWARD"; // set the director indicator variable to FORWARD
neckControllerServoMotor.write(90); // make sure servo is still facing forward
moveForward(); // run function to make robot move forward
}
//------------------------------------------------------------------------------------------------------------------------------------
//---------------------------------------------MAIN LOOP ------------------------------------------------------------------------------
void loop() {
checkForward(); // check that if the robot is supposed to be moving forward, that the drive motors are set to move forward - this is needed to overcome some issues with only using 4 AA NiMH batteries
checkPath(); // set ultrasonic sensor to scan for any possible obstacles
}
//-------------------------------------------------------------------------------------------------------------------------------------
void checkPath() {
int curLeft = 0;
int curFront = 0;
int curRight = 0;
int curDist = 0;
neckControllerServoMotor.write(144); // set servo to face left 54-degrees from forward
delay(120); // wait 120milliseconds for servo to reach position
for(pos = 144; pos >= 36; pos-=18) // loop to sweep the servo (& sensor) from 144-degrees left to 36-degrees right at 18-degree intervals.
{
neckControllerServoMotor.write(pos); // tell servo to go to position in variable 'pos'
delay(90); // wait 90ms for servo to get to position
checkForward(); // check the robot is still moving forward
curDist = readPing(); // get the current distance to any object in front of sensor
if (curDist < COLL_DIST) { // if the current distance to object is less than the collision distance
checkCourse(); // run the checkCourse function
break; // jump out of this loop
}
if (curDist < TURN_DIST) { // if current distance is less than the turn distance
changePath(); // run the changePath function
}
if (curDist > curDist) {maxAngle = pos;}
if (pos > 90 && curDist > curLeft) { curLeft = curDist;}
if (pos == 90 && curDist > curFront) {curFront = curDist;}
if (pos < 90 && curDist > curRight) {curRight = curDist;}
}
maxLeft = curLeft;
maxRight = curRight;
maxFront = curFront;
}
//-------------------------------------------------------------------------------------------------------------------------------------
void setCourse() { // set direction for travel based on a very basic distance map, simply which direction has the greatest distance to and object - turning right or left?
if (maxAngle < 90) {turnRight();}
if (maxAngle > 90) {turnLeft();}
maxLeft = 0;
maxRight = 0;
maxFront = 0;
}
//-------------------------------------------------------------------------------------------------------------------------------------
void checkCourse() { // we're about to hit something so move backwards, stop, find where the empty path is.
moveBackward();
delay(500);
moveStop();
setCourse();
}
//-------------------------------------------------------------------------------------------------------------------------------------
void changePath() {
if (pos < 90) {lookLeft();} // if current pos of sensor is less than 90-degrees, it means the object is on the right hand side so look left
if (pos > 90) {lookRight();} // if current pos of sensor is greater than 90-degrees, it means the object is on the left hand side so look right
}
//-------------------------------------------------------------------------------------------------------------------------------------
int readPing() { // read the ultrasonic sensor distance
delay(70);
unsigned int uS = sonar.ping();
int cm = uS/US_ROUNDTRIP_CM;
return cm;
}
//-------------------------------------------------------------------------------------------------------------------------------------
void checkForward() { if (motorSet=="FORWARD") {leftMotor.run(FORWARD); rightMotor.run(FORWARD); } } // make sure motors are going forward
//-------------------------------------------------------------------------------------------------------------------------------------
void checkBackward() { if (motorSet=="BACKWARD") {leftMotor.run(BACKWARD); rightMotor.run(BACKWARD); } } // make sure motors are going backward
//-------------------------------------------------------------------------------------------------------------------------------------
// In some cases, the Motor Drive Shield may just stop if the supply voltage is too low (due to using only four NiMH AA cells).
// The above functions simply remind the Shield that if it's supposed to go forward, then make sure it is going forward and vice versa.
//-------------------------------------------------------------------------------------------------------------------------------------
void moveStop() {leftMotor.run(RELEASE); rightMotor.run(RELEASE);} // stop the motors.
//-------------------------------------------------------------------------------------------------------------------------------------
void moveForward() {
motorSet = "FORWARD";
leftMotor.run(FORWARD); // turn it on going forward
rightMotor.run(FORWARD); // turn it on going forward
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
{
leftMotor.setSpeed(speedSet+MOTORS_CALIBRATION_OFFSET);
rightMotor.setSpeed(speedSet);
delay(5);
}
}
//-------------------------------------------------------------------------------------------------------------------------------------
void moveBackward() {
motorSet = "BACKWARD";
leftMotor.run(BACKWARD); // turn it on going forward
rightMotor.run(BACKWARD); // turn it on going forward
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
{
leftMotor.setSpeed(speedSet+MOTORS_CALIBRATION_OFFSET);
rightMotor.setSpeed(speedSet);
delay(5);
}
}
//-------------------------------------------------------------------------------------------------------------------------------------
void turnRight() {
motorSet = "RIGHT";
leftMotor.run(FORWARD); // turn motor 1 forward
rightMotor.run(BACKWARD); // turn motor 2 backward
delay(400); // run motors this way for 400ms
motorSet = "FORWARD";
leftMotor.run(FORWARD); // set both motors back to forward
rightMotor.run(FORWARD);
}
//-------------------------------------------------------------------------------------------------------------------------------------
void turnLeft() {
motorSet = "LEFT";
leftMotor.run(BACKWARD); // turn motor 1 backward
rightMotor.run(FORWARD); // turn motor 2 forward
delay(400); // run motors this way for 400ms
motorSet = "FORWARD";
leftMotor.run(FORWARD); // turn it on going forward
rightMotor.run(FORWARD); // turn it on going forward
}
//-------------------------------------------------------------------------------------------------------------------------------------
void lookRight() {rightMotor.run(BACKWARD); delay(400); rightMotor.run(FORWARD);} // looking right? set right motor backwards for 400ms
//-------------------------------------------------------------------------------------------------------------------------------------
void lookLeft() {leftMotor.run(BACKWARD); delay(400); leftMotor.run(FORWARD);} // looking left? set left motor backwards for 400ms
//-------------------------------------------------------------------------------------------------------------------------------------
Как заменить обичних 2 калекторных двигателя, на 2 шаговых.
Зарание спасибо.
Использую Атмега уно и Adafruit Motor Shield
Нада поменять ХЗ что в ХЗ какой строке.
Хорошый ответ, я аж прозрел.
Вот и чудно! Ответ получен, тему можна закрывать. ТС прозрел, остальные тоже, как обычно, прозрели от того что ТС форум не читает и расчитывает что другие ему просто так вот код напишут. Аминь вобщем.
Хорошый ответ, я аж прозрел.
А чего ж плюсик отвечавшему не поставил?