{"id":827,"date":"2024-06-05T13:41:52","date_gmt":"2024-06-05T10:41:52","guid":{"rendered":"https:\/\/kirillsats.wordpress.com\/?page_id=827"},"modified":"2024-06-05T13:41:52","modified_gmt":"2024-06-05T10:41:52","slug":"rob-auto","status":"publish","type":"page","link":"https:\/\/kirillsats23.thkit.ee\/wp\/?page_id=827","title":{"rendered":"ROB. Auto"},"content":{"rendered":"\n

<\/p>\n\n\n\n

Skeem:<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

Kood:<\/strong><\/p>\n\n\n\n

\/\/ DISTANCE VARIABLES\nconst int trigPin = 3;\nconst int echoPin = 2;\nlong duration, distance;\n\n\/\/ MOTORS VARIABLES\nconst int mot1f = 6;\nconst int mot1b = 5;\nconst int mot2f = 11;\nconst int mot2b = 10;\nint mot_speed = 210; \/\/ motors speed\n\n\/\/ LOGICS VARIABLES\nconst int dist_stop = 15;\nint errorLED = 13;\n\n\/\/ Function declarations\nint ping();\nvoid motors_forward();\nvoid motors_back();\nvoid motors_stop();\nvoid motors_left();\nvoid motors_right();\n\n\/\/ INITIALIZATION\nvoid setup() {\n  pinMode(trigPin, OUTPUT);\n  pinMode(echoPin, INPUT);\n  pinMode(errorLED, OUTPUT);\n}\n\n\/\/ BASIC PROGRAM CYCLE\nvoid loop() {\n  int result = ping(); \/\/ Check distance\n\n  if (result <= dist_stop) { \/\/ Barrier detected within stop distance\n    motors_stop();\n    delay(200);\n\n    \/\/ Check distance to the left\n    motors_left();\n    delay(500); \/\/ Turn left for a short duration\n    motors_stop();\n    delay(200);\n    int left_distance = ping();\n\n    \/\/ Check distance to the right\n    motors_right();\n    delay(1000); \/\/ Turn right from the initial position\n    motors_stop();\n    delay(200);\n    int right_distance = ping();\n\n    \/\/ Return to the initial position\n    motors_left();\n    delay(500);\n    motors_stop();\n    delay(200);\n\n    \/\/ Turn in the direction where there is no barrier\n    if (left_distance > right_distance) {\n      motors_left();\n      delay(500);\n    } else {\n      motors_right();\n      delay(500);\n    }\n    motors_stop();\n    delay(200);\n  } else {\n    \/\/ If no barrier, keep moving forward\n    motors_forward();\n  }\n}\n\n\/\/ Function definitions\nint ping() { \/\/ CHECK DISTANCE FUNCTION\n  digitalWrite(trigPin, LOW);\n  delayMicroseconds(2);\n  digitalWrite(trigPin, HIGH);\n  delayMicroseconds(10);\n  digitalWrite(trigPin, LOW);\n  duration = pulseIn(echoPin, HIGH);\n  distance = duration \/ 58;\n  return distance;\n}\n\nvoid motors_forward() { \/\/ MOTORS FORWARD FUNCTION\n  analogWrite(mot1f, mot_speed);\n  analogWrite(mot2f, mot_speed);\n  digitalWrite(mot1b, LOW);\n  digitalWrite(mot2b, LOW);\n}\n\nvoid motors_back() { \/\/ MOTORS BACK FUNCTION\n  digitalWrite(mot1f, LOW);\n  digitalWrite(mot2f, LOW);\n  analogWrite(mot1b, mot_speed);\n  analogWrite(mot2b, mot_speed);\n}\n\nvoid motors_stop() { \/\/ MOTORS STOP FUNCTION\n  digitalWrite(mot1f, LOW);\n  digitalWrite(mot2f, LOW);\n  digitalWrite(mot1b, LOW);\n  digitalWrite(mot2b, LOW);\n}\n\nvoid motors_left() { \/\/ MOTORS LEFT FUNCTION\n  analogWrite(mot1f, mot_speed);\n  digitalWrite(mot2f, LOW);\n  digitalWrite(mot1b, LOW);\n  analogWrite(mot2b, mot_speed);\n}\n\nvoid motors_right() { \/\/ MOTORS RIGHT FUNCTION\n  digitalWrite(mot1f, LOW);\n  analogWrite(mot2f, mot_speed);\n  analogWrite(mot1b, mot_speed);\n  digitalWrite(mot2b, LOW);\n}<\/code><\/pre>\n\n\n\n
Kasutatud komponendid:<\/strong><\/p>\n\n\n\n
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  • 2 mootorid. Vasak ja paream<\/li>\n\n\n\n
  • 1 mootori driver<\/li>\n\n\n\n
  • 6 patarei<\/li>\n\n\n\n
  • 1 kauguse andur<\/li>\n\n\n\n
  • 1 arduino<\/li>\n\n\n\n
  • 20 juhtmed<\/li>\n\n\n\n
  • 1 nupp sissel\u00fclitamiseks<\/li>\n<\/ul>\n\n\n\n
    Uued funktsioonid:<\/strong><\/p>\n\n\n\n
    Uusi funktsioone ei olnud<\/p>\n\n\n\n
    Raskused autudega:<\/strong><\/p>\n\n\n\n
    Autol oli probleem, et \u00fcks mootor ei t\u00f6\u00f6tanud h\u00e4sti. \u00dcks oli kiirem kui teine, mis p\u00f5hjustas sirgelt s\u00f5itmise probleemi, kuid andsime endast parima, et seda parandada. \u00dclej\u00e4\u00e4nud masin oli hea, ainus asi, mida neil polnud aega korpust teha<\/p>\n\n\n\n
    Link:<\/strong><\/p>\n\n\n\n
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