Robotiikkapaja (9h)

Robotti auton koodi

/**

 Bruno Santos, 2013

 feiticeir0@whatgeek.com.pt

 Small code to test DC motors - 2x with a L298 Dual H-Bridge Motor Driver

Kimmo ja Pauli muokkasivat 2019

Free to share

**/

#define TRIGGER_PIN  10 // Arduino pin tied to trigger pin on the ultrasonic sensor.

#define ECHO_PIN 11  // Arduino pin tied to echo pin on the ultrasonic sensor.

#define MAX_DISTANCE 300 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.


#include <NewPing.h>

#include <Servo.h>


Servo myservo;

int pos = 0;


NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.

int distance = 2;


//Testing the DC Motors

//Define Pins

//Motor A

int enableA = 3;

int pinA1 = 4;

int pinA2 = 5;

//Motor B

int enableB = 8;

int pinB1 = 6;

int pinB2 = 7;




void setup() {

 Serial.begin (9600);

 //configure pin modes

 pinMode (enableA, OUTPUT);

 pinMode (pinA1, OUTPUT);

 pinMode (pinA2, OUTPUT);

 pinMode (enableB, OUTPUT);

 pinMode (pinB1, OUTPUT);

 pinMode (pinB2, OUTPUT);

 myservo.attach(9);

}



void forward2() {

 //enabling motor A

 Serial.println ("Enabling Motor A");

 digitalWrite (enableA, HIGH);

 digitalWrite (enableB, HIGH);

 //do something

 //forward

 Serial.println ("Forward");

 digitalWrite (pinA2, HIGH);

 digitalWrite (pinA1, LOW);

 digitalWrite (pinB1, HIGH);

 digitalWrite (pinB2, LOW);


 delay (2000);

 digitalWrite (pinA2, LOW);

 digitalWrite (pinA1, LOW);

 digitalWrite (pinB1, LOW);

 digitalWrite (pinB2, LOW);


 delay (1000);


 digitalWrite (pinA1, HIGH);

 digitalWrite (pinA2, LOW);

 digitalWrite (pinB1, HIGH);

 digitalWrite (pinB2, LOW);


 delay (1000);


 digitalWrite (pinA2, LOW);

 digitalWrite (pinA1, LOW);

 digitalWrite (pinB1, LOW);

 digitalWrite (pinB2, LOW);


delay(1000);



 

 digitalWrite (pinA2, HIGH);

 digitalWrite (pinA1, LOW);

 digitalWrite (pinB1, HIGH);

 digitalWrite (pinB2, LOW);


 delay (2000);


digitalWrite (enableB, LOW);

digitalWrite (enableA, LOW);


}


void forward() {

 //enabling motor A

 Serial.println ("Enabling Motor A+B");

 digitalWrite (enableA, HIGH);

 digitalWrite (enableB, HIGH);

 //do something

 //forward

 Serial.println ("Forward");

 digitalWrite (pinA2, HIGH);

 digitalWrite (pinA1, LOW);

 digitalWrite (pinB1, HIGH);

 digitalWrite (pinB2, LOW);

}


void stop() {

 Serial.println ("Stop");

 digitalWrite (pinA2, LOW);

 digitalWrite (pinA1, LOW);

 digitalWrite (pinB1, LOW);

 digitalWrite (pinB2, LOW);


 delay (200);


 digitalWrite (enableB, LOW);

 digitalWrite (enableA, LOW);

}



void vaihda_suunta() {

 int oikea=0;

 int vasen=0;

 pos=10;

 myservo.write(pos);   // tell servo to go to position in variable 'pos'

 delay(500);

 vasen = sonar.ping_cm();

 delay(15);

 pos = 170;

 myservo.write(pos);   // tell servo to go to position in variable 'pos'

 delay(500);

 oikea = sonar.ping_cm();

 delay(15);

 pos = 90;

 myservo.write(pos);   // tell servo to go to position in variable 'pos'

 delay(500);

 if (oikea == 0) oikea = 500;

 if (vasen == 0) vasen = 500;

 if (oikea < vasen) {

Serial.println ("Käännyn Oikealle!");

Serial.println (oikea);

delay(1000);

 }

 else {

 Serial.println ("Käännyn Vasemmalle");

 Serial.println (vasen);

delay(1000);

 }

}


void loop() {

 distance = sonar.ping_cm();

 Serial.println(distance);

 if ((distance < 30) && (distance > 2) ){

  stop();

  vaihda_suunta();

} else {

  //forward();

}

 delay (50);

}

Kaivuritesti 1

#include <Servo.h> //Servo library


Servo servo_1; //initialize a servo object for the connected servo
Servo servo_2; //initialize a servo object for the connected servo
Servo servo_3; //initialize a servo object for the connected servo
Servo servo_4; //initialize a servo object for the connected servo

int angle1 = 0;
int angle2 = 0;
int angle3 = 0;
int angle4 = 0;

int potentio1 = A0; // initialize the A0analog pin for potentiometer
int potentio2 = A1; // initialize the A1analog pin for potentiometer
int potentio3 = A2; // initialize the A2analog pin for potentiometer
int potentio4 = A3; // initialize the A3analog pin for potentiometer

#define SERVO1PIN 7
#define SERVO2PIN 9
#define SERVO3PIN 10
#define SERVO4PIN 6

void setup()
{
servo_1.attach(SERVO1PIN); // attach the signal pin of servo to pin9 of arduino

}

void loop()
{
angle1 = analogRead(potentio1); // reading the potentiometer value between 0 and 1023
angle1 = map(angle1, 0, 1023, 60, 140); // scaling the potentiometer value to angle value for servo between 0 and 180)
servo_1.write(angle1); //command to rotate the servo to the specified angle
delay(5);


}

Robotti testi

/**
 * Bruno Santos, 2013
 * feiticeir0@whatgeek.com.pt
 * Small code to test DC motors - 2x with a L298 Dual H-Bridge Motor Driver
 * Free to share
 **/
 //Testing the DC Motors
//Define Pins
 //Motor A
 int enableA = 10;
 int pinA1 = 2;
 int pinA2 = 3;
//Motor B
 int enableB = 9;
 int pinB1 = 4;
 int pinB2 = 5;
void setup() {
Serial.begin (9600);
 //configure pin modes
 pinMode (enableA, OUTPUT);
 pinMode (pinA1, OUTPUT);
 pinMode (pinA2, OUTPUT);
pinMode (enableB, OUTPUT);
 pinMode (pinB1, OUTPUT);
 pinMode (pinB2, OUTPUT);
}
void loop() {
 //enabling motor A
 Serial.println ("Enabling Motor A");
 digitalWrite (enableA, HIGH);
//do something
 //forward
 Serial.println ("Forward");
 digitalWrite (pinA1, HIGH);
 digitalWrite (pinA2, LOW);
//5s forward
 delay (5000);
//reverse
 digitalWrite (pinA1,LOW);
 digitalWrite (pinA2,HIGH);
//5s backwards
 delay (5000);
//stop
 digitalWrite (enableA, LOW);
 delay (5000);
//enabling motor B
 //Since motor B is mounted reversed, PINs must be exchanged
 Serial.println ("Enabling Motor A");
 digitalWrite (enableB, HIGH);
//do something
 //forward
 Serial.println ("Forward");
 digitalWrite (pinB1, LOW);
 digitalWrite (pinB2, HIGH);
//5s forward
 delay (5000);
//reverse
 digitalWrite (pinB1,HIGH);
 digitalWrite (pinB2,LOW);
//5s backwards
 delay (5000);
//stop
 digitalWrite (enableB, LOW);
 delay (5000);
 }

Tervetuloa robotiikkapajaan

Pajan nimi: Robotiikkapaja

Kesto: 9h

Alusta: Arduino Uno, Arduino Nano

Kuvaus: Pajan tavoitteena on rakentaa ja koodata liikkuva robottiauto. Ohjauksen voi toteuttaan langallisella ohjaimella, Bluetoothilla ja puhelimella tai täysin autonomisena. Materiaalia voi käyttää myös itseopiskelumateriaalina.

Tervetuloa rakentamaan robottiautoa.

Pajan sisältö

  • Aloitus (30 min) - Asennataan Arduino Ide ja testataan Arduino Unon ohjelmointia.
  • Oppitunti 1 ( 2h 20 min ) - Valot, ultraäänianturi, etäisyysmittari ja servomoottori.
  • Oppitunti 2 ( 1h 30 min ) - DC-moottori, moottoriohjaimet ja Arduino lisälevyt.
  • Oppitunti 3 ( 2h ) - Joystick- vai Bluetooth - ohjaus? Kootaan kaikki yhteen.
  • Oppitunti 4 ( 1h 30 min ) - Eteen, taakse, oikealle ja vasemmalle. 
  • Oppitunti 5 - päätös ( 1h ) - Viimeiset säädöt.

Testikoodia peliohjaimelle - Joystick Sensor Serial Read


Testikoodi:

/*
 TNG Robotics | www.tngrobotics.ca
 Title  | Joystick Sensor Serial Read
 Connect  | Servo to Arduino digital pin 5
 Published  | October 29, 2016
*/

const int VRx = 0; // Connect to Analog Pin 0
const int VRy = 1; // Connect to Analog Pin 1
const int SW = 4; // Connect to Digital Pin 4

void setup() {
 pinMode(SW, INPUT);
 digitalWrite(SW, HIGH);
 Serial.begin(9600);
}

void loop() {
 Serial.print("x-axis tilt: ");
 Serial.println(analogRead(VRx));
 Serial.print("y-axis tilt: ");
 Serial.println(analogRead(VRy));
 Serial.print("switch: ");
 Serial.println(digitalRead(SW));
 delay(800);
}

Kaivuri testi neljällä servolla

#include <Servo.h> //Servo library


Servo servo_1; //initialize a servo object for the connected servo
Servo servo_2; //initialize a servo object for the connected servo
Servo servo_3; //initialize a servo object for the connected servo
Servo servo_4; //initialize a servo object for the connected servo

int angle1 = 0;
int angle2 = 0;
int angle3 = 0;
int angle4 = 0;

int potentio1 = A1; // initialize the A0analog pin for potentiometer
int potentio2 = A0; // initialize the A1analog pin for potentiometer
int potentio3 = A2; // initialize the A1analog pin for potentiometer
int potentio4 = A3; // initialize the A1analog pin for potentiometer

#define SERVO1PIN 7
#define SERVO2PIN 9
#define SERVO3PIN 10
#define SERVO4PIN 6

void setup()
{
  servo_1.attach(SERVO1PIN); // attach the signal pin of servo to pin9 of arduino

  servo_2.attach(SERVO2PIN); // attach the signal pin of servo to pin9 of arduino
  servo_3.attach(SERVO3PIN); // attach the signal pin of servo to pin9 of arduino
  servo_4.attach(SERVO4PIN); // attach the signal pin of servo to pin9 of arduino
}

void loop()
{
  angle1 = analogRead(potentio1); // reading the potentiometer value between 0 and 1023
  angle1 = map(angle1, 0, 1023, 60, 140); // scaling the potentiometer value to angle value for servo between 0 and 180)
  servo_1.write(angle1); //command to rotate the servo to the specified angle
  delay(5);

  angle2 = analogRead(potentio2); // reading the potentiometer value between 0 and 1023
  angle2 = map(angle2, 0, 1023, 0, 179); // scaling the potentiometer value to angle value for servo between 0 and 180)
  servo_2.write(angle2); //command to rotate the servo to the specified angle
  delay(5);
  
  angle3 = analogRead(potentio3); // reading the potentiometer value between 0 and 1023
  angle3 = map(angle3, 0, 1023, 30, 160); // scaling the potentiometer value to angle value for servo between 0 and 180)
  servo_3.write(angle3); //command to rotate the servo to the specified angle
  delay(5);

  angle4 = analogRead(potentio4); // reading the potentiometer value between 0 and 1023
  angle4 = map(angle4, 0, 1023, 30, 160); // scaling the potentiometer value to angle value for servo between 0 and 180)
  servo_4.write(angle4); //command to rotate the servo to the specified angle
  delay(5);

}

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