Dagu Rover 5 - Selfmade RF24L Remote control and now with gripper :-)

AndreasVan · February 28, 2015, 10:28pm

I’m starting with the Dagu 5 Rover Chassis, in its 2 Wheel Drive form and the Explorer Controller Board for Dagu Rover 5 2WD.
I got it for a nice price

Controller board

Dagu Rover 5 2WD

I'm not a programmer but I have some experience with coding for the Arduino, but sensors and some of the other electronic pieces that combine to make a functional robot are new to me. Thanks for your help and input.

My first sketch is working fine with a ultrasonic sensor (SR04)

// Control of a Rover5 robot - Last update: AndreasVan 2015-02-28 Vers. 2.01
// Dagu Rover 5 2WD Tracked Chassis + Explorer Controller Board for Dagu Rover 5 2WD
// Micro controller = Arduino UNO
// Detecting obstacles with an SR04 ultrasonic sensor mounted on servo
// this code is public domain, enjoy!
 
#include <NewPing.h>        //library SR04 ultrasonic sensor
#include <Servo.h>          //library Servo (SR04 on servo)

#define TRIGGER_PIN 9       // SR04 sensor  
#define ECHO_PIN    8       // SR04 sensor
#define MAX_DISTANCE 200    //sensor distance
Servo myservo;  
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

#define runEvery(t) for (static typeof(t) _lasttime;(typeof(t))((typeof(t))millis() - _lasttime) > (t);_lasttime += (t))

const int PWN1 = 6;           //right PWN
const int DIR1 = 7;           //right DIR
const int PWN2 =11;           //left PWN
const int DIR2 =12;           //left DIR
const int redLed = 5;         //robot drives forward
const int greenLed = 4;       //robot drives backward
const int yellowLed = 3;      //robot turns left
const int blueLed = 2;        //robot turns right

int uS;                       //value of SR04 ultrasonic sensor
int distance;                 //distance in cm of ultrasonic sensor 
int pos = 90;                 //start position of servo = 90
int servoDirection = 0;       //sweeping left or right
int MoveDirection = 0;        //0 = forward, 1 = backward, 2 = left, 3 = right
int lastMoveDirection;        //last direction of the robot
int distanceCenter;     
int distanceLeft;
int distanceRight;
int servoDelay = 55;          //servo sweep speed
const int speedLeft = 90;    //motor speed left
const int speedRight = 90;   //motor speed right
long previousMillis = 0;
const int interval = 1000;    // time to switch between the MoveDirections

void setup() {                
  pinMode(PWN1, OUTPUT);  
  pinMode(DIR1, OUTPUT); 
  pinMode(PWN2, OUTPUT); 
  pinMode(DIR2, OUTPUT);
  analogWrite(PWN1, 0);
  analogWrite(PWN2, 0);
  pinMode(5, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(2, OUTPUT);
  pinMode(redLed, OUTPUT); 
  pinMode(greenLed, OUTPUT);
  pinMode(yellowLed, OUTPUT);
  pinMode(blueLed, OUTPUT);
  Serial.begin(9600);       //to use the serial monitor
  myservo.attach(10);       //servo on pin 10
  myservo.write(pos);       //center servo
 }

void loop() {

  sweepServo();             //servo sweep function
  
  getDistance();            //ultrasonic sensor distance 
  
    if (pos >= 15 && pos <= 45)
  {
    distanceRight = distance;  //measured distance servo is to the right = distanceRight
  }
  if (pos >= 135 && pos <= 165)
  {
    distanceLeft = distance;   //measured distance servo is to the left = distanceLeft
  }   
  if (pos > 70 && pos < 110)
  {
    distanceCenter = distance; //measured distance servo in centred  = distanceCenter
  } 

  if (distanceCenter >= 25)    //no obstacle to see for miles, straight on
  {
    MoveDirection = 0;         //move forward
  }
  else                         //obstacle detected, turn left or right?
  {
    if (distanceLeft > distanceRight)  
    {
      MoveDirection = 2;      //turn left = 2
    }
    if (distanceLeft < distanceRight)
    {
      MoveDirection = 3;      //turn right = 3
    }
    if (distanceLeft <= 5 && distanceCenter <= 5 || distanceRight <= 5 && distanceCenter <= 5)
    {
      MoveDirection = 1;      //  turn back
    }
  }

  unsigned long currentMillis = millis();  //set a timer

  if(MoveDirection == 0 && MoveDirection == lastMoveDirection)  
  {
    forward();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 0 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    forward();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 1 && MoveDirection == lastMoveDirection)
  {
    backward();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 1 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    backward();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 2 && MoveDirection == lastMoveDirection)
  {
    left();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 2 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    left();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 3 && MoveDirection == lastMoveDirection)
  {
    right();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 3 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    right();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
}

void forward()
{
  digitalWrite(DIR1, LOW);
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, speedLeft);
  analogWrite(PWN2, speedRight);
  digitalWrite(redLed, HIGH);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void stop()
{
  digitalWrite(DIR1, LOW);   
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, 0);
  analogWrite(PWN2, 0);
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void backward()
{
  digitalWrite(DIR1, HIGH);  
  digitalWrite(DIR2, HIGH);   
  analogWrite(PWN1, speedLeft-10); 
  analogWrite(PWN2, speedRight-10); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, HIGH);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void left()
{
  digitalWrite(DIR1, LOW);
  digitalWrite(DIR2, HIGH);   
  analogWrite(PWN1, speedLeft-20); 
  analogWrite(PWN2, speedRight+20); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, HIGH);
  digitalWrite(blueLed, LOW);
}

void right()
{
  digitalWrite(DIR1, HIGH);
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, speedLeft+20);  
  analogWrite(PWN2, speedRight-20); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, HIGH);
}

void getDistance()
{
  runEvery(20)                      //loop for ultrasonic measurement
  {
    uS = sonar.ping();
    distance = uS / US_ROUNDTRIP_CM;
    if (uS == NO_ECHO)              // if the sensor did not get a ping        
    {
      distance = MAX_DISTANCE;      //so the distance must be bigger then the max vaulue of the sensor
    }
    Serial.print("Ping: ");         //to check distance on the serial monitor
    Serial.print(distance); 
    Serial.println("cm");
  }
}

void sweepServo()
{
  runEvery(servoDelay)                      //this loop determines the servo position
  {
    if(pos < 165 && servoDirection == 0)    // 165 = servo to the left
    {                                  
      pos = pos + 5;                        
    } 
    if(pos > 15 && servoDirection == 1)     // 15 = servo to the right
    {                                
      pos = pos - 5;
    }    
  }   
  if (pos == 165 )    
  {
    servoDirection = 1;                     //changes direction
  }
  if (pos == 15 )     
  {
    servoDirection = 0;                     //changes direction
  }   
  myservo.write(pos);                       //move servo!
}

The next step is to use the IR sensors on the Explorer board and here is the beginning of my problems.
When the rover find a obstacle he only drive forward and backward on the same place ... on and on and on ...

AndreasVan · February 28, 2015, 10:29pm

This is the sketch:

#include <NewPing.h>          //library SR04 ultrasonic sensor
#include <Servo.h>            //library Servo (SR04 on servo)
#include <rover_ir_sensors.h> //library ir sensors

#define TRIGGER_PIN 9         //SR04 sensor  
#define ECHO_PIN    8         //SR04 sensor
#define MAX_DISTANCE 200      //sensor distance
Servo myservo;  
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

#define runEvery(t) for (static typeof(t) _lasttime;(typeof(t))((typeof(t))millis() - _lasttime) > (t);_lasttime += (t))

const int PWN1 = 6;           //right PWN
const int DIR1 = 7;           //right DIR
const int PWN2 =11;           //left PWN
const int DIR2 =12;           //left DIR
const int redLed = 5;         //robot drives forward
const int greenLed = 4;       //robot drives backward
const int yellowLed = 3;      //robot turns left
const int blueLed = 2;        //robot turns right
const int NUM_IR_SENSORS = 4;
const int IR_Led_Pins[ NUM_IR_SENSORS ] = { A0, A0, A1, A1 };   
const int IR_Sensor_Pins[ NUM_IR_SENSORS ] = { A3, A2, A4, A5 };
const int Close_Range_IR_Value = 150;

RoverIRSensors IRSensors( 
    IR_Led_Pins[ 0 ], IR_Led_Pins[ 1 ],
    IR_Led_Pins[ 2 ], IR_Led_Pins[ 3 ],
    IR_Sensor_Pins[ 0 ], IR_Sensor_Pins[ 1 ],
    IR_Sensor_Pins[ 2 ], IR_Sensor_Pins[ 3 ] );

int uS;                     //value of SR04 ultrasonic sensor
int distance;               //distance in cm of ultrasonic sensor 
int pos = 90;               //start position of servo = 90
int servoDirection = 0;     //sweeping left or right
int MoveDirection = 0;      //0 = forward, 1 = backward, 2 = left, 3 = right
int lastMoveDirection;      //last direction of the robot
int distanceCenter;     
int distanceLeft;
int distanceRight;
int servoDelay = 55;        //servo sweep speed
const int speedLeft = 140;  //motor speed left
const int speedRight = 130; //motor speed right
long previousMillis = 0;
const int interval = 1000;  //time to switch between the MoveDirections when it detects an obstacle

void setup() {                
  pinMode(PWN1, OUTPUT);  
  pinMode(DIR1, OUTPUT); 
  pinMode(PWN2, OUTPUT); 
  pinMode(DIR2, OUTPUT);
  analogWrite(PWN1, 0);
  analogWrite(PWN2, 0);
  pinMode(5, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(2, OUTPUT);
  pinMode(redLed, OUTPUT); 
  pinMode(greenLed, OUTPUT);
  pinMode(yellowLed, OUTPUT);
  pinMode(blueLed, OUTPUT);
  Serial.begin(9600);       //to use the serial monitor
  myservo.attach(10);       //servo on pin 10
  myservo.write(pos);       //center servo
  delay(2000);              //start delay
}

void loop() {
  
    
    IRSensors.takeReadings();  // read from the IR sensors  
    int frontLeftIR = IRSensors.lastFrontLeftReading();
    int frontRightIR = IRSensors.lastFrontRightReading();
    int rearLeftIR = IRSensors.lastRearLeftReading();
    int rearRightIR = IRSensors.lastRearRightReading();
 
  sweepServo();                //servo sweep function
  
  getDistance();               //ultrasonic sensor distance 
  
    if (pos >= 15 && pos <= 45)
  {
    distanceRight = distance;  //measured distance servo right = distanceRight
  }
  if (pos >= 135 && pos <= 165)
  {
    distanceLeft = distance;   //measured distance servo left = distanceLeft
  }   
  if (pos > 70 && pos < 110)
  {
    distanceCenter = distance; //measured distance servo centred  = distanceCenter
  } 

  if (distanceCenter >= 25
              || rearLeftIR >= Close_Range_IR_Value
              || rearRightIR >= Close_Range_IR_Value)    //no obstacle to see for miles, straight on
  {
    MoveDirection = 0;         //move forward
  }
  else                         //obstacle detected, turn left or right
  {
    if (distanceLeft > distanceRight 
              || frontLeftIR >= Close_Range_IR_Value
              || frontRightIR <= Close_Range_IR_Value
              || rearLeftIR >= Close_Range_IR_Value
              || rearRightIR <= Close_Range_IR_Value )  
    {
      MoveDirection = 2;      //turn left = 2
    }
    if (distanceLeft < distanceRight 
              || frontLeftIR >= Close_Range_IR_Value
              || frontRightIR <= Close_Range_IR_Value
              || rearLeftIR >= Close_Range_IR_Value
              || rearRightIR <= Close_Range_IR_Value ) 
    {
      MoveDirection = 3;      //turn right = 3
    }
    if (distanceLeft <= 5 && distanceCenter <= 5 || distanceRight <= 5 && distanceCenter <= 5
                    || frontLeftIR <= Close_Range_IR_Value
                    || frontRightIR <= Close_Range_IR_Value
                    || rearLeftIR >= Close_Range_IR_Value
                    || rearRightIR >= Close_Range_IR_Value )
    {
      MoveDirection = 1;      //  turn back = 1
    }
  }

  unsigned long currentMillis = millis();  //timer

  if(MoveDirection == 0 && MoveDirection == lastMoveDirection)  
  {
    forward();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 0 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    forward();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 1 && MoveDirection == lastMoveDirection)
  {
    backward();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 1 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    backward();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 2 && MoveDirection == lastMoveDirection)
  {
    left();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 2 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    left();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 3 && MoveDirection == lastMoveDirection)
  {
    right();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 3 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    right();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
}

void forward()
{
  digitalWrite(DIR1, LOW);
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, speedLeft);
  analogWrite(PWN2, speedRight);
  digitalWrite(redLed, HIGH);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void stop()
{
  digitalWrite(DIR1, LOW);   
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, 0);
  analogWrite(PWN2, 0);
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void backward()
{
  digitalWrite(DIR1, HIGH);  
  digitalWrite(DIR2, HIGH);   
  analogWrite(PWN1, speedLeft-10); 
  analogWrite(PWN2, speedRight-10); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, HIGH);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void left()
{
  digitalWrite(DIR1, LOW);
  digitalWrite(DIR2, HIGH);   
  analogWrite(PWN1, speedLeft-20); 
  analogWrite(PWN2, speedRight+20); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, HIGH);
  digitalWrite(blueLed, LOW);
}

void right()
{
  digitalWrite(DIR1, HIGH);
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, speedLeft+20);  
  analogWrite(PWN2, speedRight-20); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, HIGH);
}

void getDistance()
{
  runEvery(20)                      //loop for ultrasonic measurement
  {
    uS = sonar.ping();
    distance = uS / US_ROUNDTRIP_CM;
    if (uS == NO_ECHO)              // if the sensor did not get a ping        
    {
      distance = MAX_DISTANCE;      //so the distance must be bigger then the max vaulue of the sensor
    }
    Serial.print("Ping: ");         //to check distance on the serial monitor
    Serial.print(distance); 
    Serial.println("cm");
  }
}

void sweepServo()
{
  runEvery(servoDelay)                      //this loop determines the servo position
  {
    if(pos < 165 && servoDirection == 0)    //servo to the left
    {                                  
      pos = pos + 5;                        
    } 
    if(pos > 15 && servoDirection == 1)     //servo to the right
    {                                
      pos = pos - 5;
    }    
  }   
  if (pos == 165 )    
  {
    servoDirection = 1;                     //changes direction
  }
  if (pos == 15 )     
  {
    servoDirection = 0;                     //changes direction
  }   
  myservo.write(pos);                       //move servo
}

AndreasVan · February 28, 2015, 10:33pm

Here is a pic so far ...

AndreasVan · February 28, 2015, 10:46pm

Unfortunately not the best video, but you can see what I mean...

Youtube

Thanks for your help and input.

AndreasVan · March 1, 2015, 5:35pm

I have tested a IR sensor only sketch. Thats works too ...

#include <rover_ir_sensors.h> //library ir sensors

#define runEvery(t) for (static typeof(t) _lasttime;(typeof(t))((typeof(t))millis() - _lasttime) > (t);_lasttime += (t))

const int PWN1 = 6;           //right PWN
const int DIR1 = 7;           //right DIR
const int PWN2 =11;           //left PWN
const int DIR2 =12;           //left DIR
const int redLed = 5;         //robot drives forward
const int greenLed = 4;       //robot drives backward
const int yellowLed = 3;      //robot turns left
const int blueLed = 2;        //robot turns right
const int NUM_IR_SENSORS = 4;
const int IR_Led_Pins[ NUM_IR_SENSORS ] = { A0, A0, A1, A1 };   
const int IR_Sensor_Pins[ NUM_IR_SENSORS ] = { A3, A2, A4, A5 };
const int Close_Range_IR_Value = 200;

RoverIRSensors IRSensors( 
    IR_Led_Pins[ 0 ], IR_Led_Pins[ 1 ],
    IR_Led_Pins[ 2 ], IR_Led_Pins[ 3 ],
    IR_Sensor_Pins[ 0 ], IR_Sensor_Pins[ 1 ],
    IR_Sensor_Pins[ 2 ], IR_Sensor_Pins[ 3 ] );


int servoDirection = 0;     //sweeping left or right
int MoveDirection = 0;      //0 = forward, 1 = backward, 2 = left, 3 = right
int lastMoveDirection;      //last direction of the robot
int distanceCenter;     
int distanceLeft;
int distanceRight;
int servoDelay = 55;        //servo sweep speed
const int speedLeft = 150;  //motor speed left
const int speedRight = 140; //motor speed right
long previousMillis = 0;
const int interval = 1000;  //time to switch between the MoveDirections when it detects an obstacle

void setup() {                
  pinMode(PWN1, OUTPUT);  
  pinMode(DIR1, OUTPUT); 
  pinMode(PWN2, OUTPUT); 
  pinMode(DIR2, OUTPUT);
  analogWrite(PWN1, 0);
  analogWrite(PWN2, 0);
  pinMode(5, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(2, OUTPUT);
  pinMode(redLed, OUTPUT); 
  pinMode(greenLed, OUTPUT);
  pinMode(yellowLed, OUTPUT);
  pinMode(blueLed, OUTPUT);
  Serial.begin(9600);       //to use the serial monitor
  delay(2000);              //start delay
}

void loop() {
  
    IRSensors.takeReadings();  // read from the IR sensors  
    int frontLeftIR = IRSensors.lastFrontLeftReading();
    int frontRightIR = IRSensors.lastFrontRightReading();
    int rearLeftIR = IRSensors.lastRearLeftReading();
    int rearRightIR = IRSensors.lastRearRightReading();
        
    Serial.print(frontLeftIR);
    Serial.print(frontRightIR);
    Serial.print(rearLeftIR);
    Serial.print(rearRightIR);
    Serial.print("");
 
 
    if (frontRightIR <= Close_Range_IR_Value && frontLeftIR <= Close_Range_IR_Value)    //no obstacle to see for miles, straight on
    {
      MoveDirection = 0;         //move forward
    }
    else                         //obstacle detected, turn left or right
    {
    if (frontRightIR >= Close_Range_IR_Value)  
    {
      MoveDirection = 2;      //turn left = 2
    }
    if (frontLeftIR >= Close_Range_IR_Value) 
    {
      MoveDirection = 3;      //turn right = 3
    }
    if (frontRightIR >= Close_Range_IR_Value && frontLeftIR >= Close_Range_IR_Value)
    {
      MoveDirection = 3;      //  turn back = 1
    }
  }

  unsigned long currentMillis = millis();  //timer

  if(MoveDirection == 0 && MoveDirection == lastMoveDirection)  
  {
    forward();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 0 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    forward();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 1 && MoveDirection == lastMoveDirection)
  {
    backward();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 1 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    backward();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 2 && MoveDirection == lastMoveDirection)
  {
    left();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 2 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    left();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
  if(MoveDirection == 3 && MoveDirection == lastMoveDirection)
  {
    right();
    lastMoveDirection = MoveDirection;
  }
  if(MoveDirection == 3 && MoveDirection != lastMoveDirection && currentMillis - previousMillis > interval )
  {  
    right();
    lastMoveDirection = MoveDirection;
    previousMillis = currentMillis;
  }
}

void forward()
{
  digitalWrite(DIR1, LOW);
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, speedLeft);
  analogWrite(PWN2, speedRight);
  digitalWrite(redLed, HIGH);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void stop()
{
  digitalWrite(DIR1, LOW);   
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, 0);
  analogWrite(PWN2, 0);
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void backward()
{
  digitalWrite(DIR1, HIGH);  
  digitalWrite(DIR2, HIGH);   
  analogWrite(PWN1, speedLeft-10); 
  analogWrite(PWN2, speedRight+10); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, HIGH);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, LOW);
}

void left()
{
  digitalWrite(DIR1, LOW);
  digitalWrite(DIR2, HIGH);   
  analogWrite(PWN1, speedLeft-30); 
  analogWrite(PWN2, speedRight+30); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, HIGH);
  digitalWrite(blueLed, LOW);
}

void right()
{
  digitalWrite(DIR1, HIGH);
  digitalWrite(DIR2, LOW);   
  analogWrite(PWN1, speedLeft+30);  
  analogWrite(PWN2, speedRight-30); 
  digitalWrite(redLed, LOW);
  digitalWrite(greenLed, LOW);
  digitalWrite(yellowLed, LOW);
  digitalWrite(blueLed, HIGH);
}

The problem comes when i combine ultrasonic and IRsensor

AndreasVan · March 7, 2015, 11:28am

Update 8)

Youtube !

IR remote and LCD display added.

AndreasVan · March 7, 2015, 11:39am

RoverIR.txt (9.69 KB)

system · March 9, 2015, 2:40am

My only question is why doesn't it reverse the motors (drive the motors in opposite directions, which is one of the main features of a tank track vehicle) and turn left or right after backing away from the wall ? That would be a simple code modification.

AndreasVan · March 9, 2015, 11:14pm

raschemmel:
My only question is why doesn't it reverse the motors (drive the motors in opposite directions, which is one of the main features of a tank track vehicle) and turn left or right after backing away from the wall ? That would be a simple code modification.

Not really understand what you mean. To rotate the Rover the motors drive in opposite directions! For turning right the tracks on the right drives back and the tracks on the left side drives forward and for turning left vise versa .... !?

system · March 9, 2015, 11:20pm

My question is why doesn't the rover spin left or right in one place in the video ? It never turns in the video.
It just drives forward and backs up and repeats. To turn left or right you rotate both motor shafts the the same direction CW or CCW . (looking directly at the shaftside of the motor). That never happened in that video. Why not ?

For turning right the tracks on the right drives back and the tracks on the left side drives forward and for turning left vise versa .... !?

That's correct but I never saw it happen.

AndreasVan · March 9, 2015, 11:27pm

Ok, the video is not the best quality, but when you look second 10 to second 12 maybe you can see when to Rover turns to the left.

system · March 10, 2015, 12:21am

NEVERMIND. I was watching the WRONG video ! I was watching the video in Reply#3. I finally noticed the "update" video and it does exactly what I was asking about. Nice job !

AndreasVan · March 10, 2015, 11:45pm

raschemmel:
Nice job !

Thanks

AndreasVan · March 14, 2015, 12:28pm

Selfmade LCD Shield with IR Remote and Bluetooth and LED's for direction.

Code is updated, better performance with IR-sensors

Rover501.txt (11 KB)

Robia42 · April 4, 2015, 9:20pm

Cool Project !

Any news ?

AndreasVan · April 5, 2015, 5:12pm

Thanks

I made a remote control Klick ! with Arduino Uno & joystick shield to control the Rover and gripper. The LCD shows the current of the motors and the battery voltages of the battery from the Rover.

system · April 5, 2015, 5:28pm

Way cool !

AndreasVan · April 8, 2015, 5:51pm

Rover 5 with gripper !

Youtube !

Robia42 · April 8, 2015, 6:47pm

AndreasVan:
Rover 5 with gripper !

Youtube !

Cool! Great work!

Is it possible to get some detail pics? And what kind of servo you use to lift and rotate the arm. Looks like something special ...

AndreasVan · April 9, 2015, 1:48pm

Robia42:
Cool! Great work!

Thanks 8)

Robia42:
Is it possible to get some detail pics? And what kind of servo you use to lift and rotate the arm. Looks like something special ...

There is nothing special. Lift and rotate are two separat Servos. For lifting I have a standard size Servo and for rotating a mini Servo. All servos have metal gears!

Here some pics.

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Dagu Rover 5 - Selfmade RF24L Remote control and now with gripper :-)

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