Se me bloquea los servos al incorporar GPS

International Español
1

Buenos dias,

Estoy haciendo un robot explorador autonomo, dicho robot, lleva incorporado un modulo gps, un modulo sd (para guardar el track por donde va circulando), y un par de servos que uno se encarga de llevar la direccion mediante una rueda loca y el otro se encarga de mover el sensor de proximidad para detectar objetos. Si trabajo con el modulo gps, sd por separado, funciona correctamente y si trabajo con los servos y el sensor de proximidad tambien funciona correctamente, el problema bien cuando junto el codigo que el gps bloquea literalmente el funcionamiento de los servos y el sensor de proximidad. Alguien sabe porque pasa esto?
Otro dato que se me olvida es que utilizo un placa Arduino Mega 2560 ADK for android.

Gracias!!

2

¿Estas alimentando todo tus componentes desde la placa Arduino o tienes tu propio regulador?

3

Hola!

Te explico, alimento la placa de arduino con pilas. Luego desde los pines de 5V y GND saco su positivo y negativo respectivamente y los conecto a un pcb donde conecto todos los sensores, servos, modulos etc... que requieren esos 5V.

4

He probado alimentar los circuitos a parte y que la conexion de informacion se haga mediante Arduino, es decir, que los pines de 5V y GND de la placa no los utilizo. Os voy adjuntar el codigo haber si es problema de codigo pero no lo creo...

// Librerias para el GPS, modulo SD y servo
#include <SoftwareSerial.h>
#include <SD.h>
#include <Servo.h>

// Definicion de constantes
#define rxPin 4
#define txPin 2
#define MEM_PW 8

// Definicion de variables
const int pingPin = 3;
int pos = 0;
int i = 0;
int indices[13];
int cont = 0;
int conta = 0;
int k = 0;
char inBuffer[300] = "";
char *p;
byte byteGPS = 0;

SoftwareSerial mySerial = SoftwareSerial(rxPin, txPin);
File myFile;
Servo myservo, myservo2;

void setup() {

// initialize serial communication:
Serial.begin(9600);
pinMode(13, OUTPUT);
myservo.attach(5);
myservo2.attach(6);

//setup for mySerial port
pinMode(rxPin, INPUT);
pinMode(txPin, OUTPUT);
mySerial.begin(4800);

//setup for Serial port
Serial.begin(9600);
Serial.print("Initializing SD card...");
pinMode(MEM_PW, OUTPUT);
digitalWrite(MEM_PW, HIGH);

if (!SD.begin(53)) {
Serial.println("initialization failed!");
return;
}
Serial.println("initialization done.");

if (SD.exists("GPS1.csv")) {
Serial.println("exists.");
}
else {
Serial.println("doesn't exist.");
}

// open a new file and immediately close it:
// setup the GPS module en la posicion
Serial.println("Configurando GPS...");
delay(1000);
mySerial.println("$PSTMNMEACONFIG,0,4800,64,1"); // configure NMEA sentences to show only GGA sentence
delay(100);

// command for setting time and position
mySerial.println("$PSTMINITGPS,4315.280,N,0255.267,W,0016.0,24,01,2008,17,15,00");
}

void loop()
{
for(int j = 0; j<=1000;j++)
{
// nothing happens after setup finishes.
byteGPS = 0;
i = 0;
while(byteGPS != 42){ // read the GGA sentence
byteGPS = mySerial.read();
inBuffer*=byteGPS;*

  • i++;*

  • }*

  • k = 0;*
    //Serial.println("Escribiendo en el fichero...");

  • //while(inBuffer[k] != 42){*

  • myFile = SD.open("GPS1.CSV", FILE_WRITE); //{*

  • //Serial.println(inBuffer[k]); // write the GGA sentence*

  • //inBuffer[k]= p[k];*

  • //myFile.print(inBuffer[k]);*

  • if (strncmp(inBuffer, "$GPRMC",6) == 0)*

  • {*

  • Serial.print(inBuffer[k]);*
    _ /*if(inBuffer[k]=='W')_

  • {*

  • Serial.println();*
    _ }*/_

  • Serial.print(inBuffer[7]);*

  • Serial.print(inBuffer[8]);*

  • Serial.print(':');*

  • Serial.print(inBuffer[9]);*

  • Serial.print(inBuffer[10]);*

  • Serial.print(':');*

  • Serial.print(inBuffer[11]);*

  • Serial.print(inBuffer[12]);*

  • Serial.print(inBuffer[17]);*

  • Serial.print(inBuffer[20]);*

  • Serial.print(inBuffer[21]);*

  • Serial.print(inBuffer[22]);*

  • Serial.print(inBuffer[23]);*

  • Serial.print(inBuffer[24]);*

  • Serial.print(inBuffer[25]);*

  • Serial.print(inBuffer[26]);*

  • Serial.print(inBuffer[27]);*

  • Serial.print(inBuffer[28]);*

  • Serial.print(inBuffer[31]);*

  • Serial.print(inBuffer[32]);*

  • Serial.print(inBuffer[33]);*

  • Serial.print(inBuffer[34]);*

  • Serial.print(inBuffer[35]);*

  • Serial.print(inBuffer[36]);*

  • Serial.print(inBuffer[37]);*

  • Serial.print(inBuffer[38]);*

  • Serial.print(inBuffer[39]);*

  • Serial.println();*

  • myFile.print(inBuffer[7]);*

  • myFile.print(inBuffer[8]);*

  • myFile.print(':');*

  • myFile.print(inBuffer[9]);*

  • myFile.print(inBuffer[10]);*

  • myFile.print(':');*

  • myFile.print(inBuffer[11]);*

  • myFile.print(inBuffer[12]);*

  • myFile.print(inBuffer[17]);*

  • myFile.print(inBuffer[20]);*

  • myFile.print(inBuffer[21]);*

  • myFile.print(inBuffer[22]);*

  • myFile.print(inBuffer[23]);*

  • myFile.print(inBuffer[24]);*

  • myFile.print(inBuffer[25]);*

  • myFile.print(inBuffer[26]);*

  • myFile.print(inBuffer[27]);*

  • myFile.print(inBuffer[28]);*

  • myFile.print(inBuffer[31]);*

  • myFile.print(inBuffer[32]);*

  • myFile.print(inBuffer[33]);*

  • myFile.print(inBuffer[34]);*

  • myFile.print(inBuffer[35]);*

  • myFile.print(inBuffer[36]);*

  • myFile.print(inBuffer[37]);*

  • myFile.print(inBuffer[38]);*

  • myFile.print(inBuffer[39]);*

  • // myFile.print(inBuffer[40]);*

  • // myFile.print(inBuffer[41]);*

  • myFile.println();*

  • }*
    myFile.close();

  • //Serial.println("done.");*

  • //}*
    _ /*else {_

  • // if the file didn't open, print an error:*

  • Serial.println("error opening test.txt");*
    _ }*/_

  • k++;*

  • // establish variables for duration of the ping,*

  • // and the distance result in inches and centimeters:*

  • long duration, inches, cm;*

  • // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.*

  • // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:*

  • pinMode(pingPin, OUTPUT);*

  • digitalWrite(pingPin, LOW);*

  • delayMicroseconds(2);*

  • digitalWrite(pingPin, HIGH);*

  • delayMicroseconds(5);*

  • digitalWrite(pingPin, LOW);*

  • // The same pin is used to read the signal from the PING))): a HIGH*

  • // pulse whose duration is the time (in microseconds) from the sending*

  • // of the ping to the reception of its echo off of an object.*

  • pinMode(pingPin, INPUT);*

  • duration = pulseIn(pingPin, HIGH);*

  • // convert the time into a distance*

  • inches = microsecondsToInches(duration);*

  • cm = microsecondsToCentimeters(duration);*
    /*

  • Serial.print(inches);*

  • Serial.print("in, ");*

  • Serial.print(cm);*

  • Serial.print("cm");*

  • Serial.println();*
    */

  • delay(100);*

  • if(cm<=70)*

  • {*
    // digitalWrite(13,HIGH);

  • myservo.write(130);*

  • delay(1000);*

  • long durationI, inchesI, cmI;*

  • // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.*

  • // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:*

  • pinMode(pingPin, OUTPUT);*

  • digitalWrite(pingPin, LOW);*

  • delayMicroseconds(2);*

  • digitalWrite(pingPin, HIGH);*

  • delayMicroseconds(5);*

  • digitalWrite(pingPin, LOW);*

  • // The same pin is used to read the signal from the PING))): a HIGH*

  • // pulse whose duration is the time (in microseconds) from the sending*

  • // of the ping to the reception of its echo off of an object.*

  • pinMode(pingPin, INPUT);*

  • durationI = pulseIn(pingPin, HIGH);*

  • // convert the time into a distance*

  • inchesI = microsecondsToInches(durationI);*

  • cmI = microsecondsToCentimeters(durationI);*

  • delay(100);*

  • //digitalWrite(13,LOW);*

  • myservo.write(30);*

  • delay(1000);*

  • long durationD, inchesD, cmD;*

  • // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.*

  • // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:*

  • pinMode(pingPin, OUTPUT);*

  • digitalWrite(pingPin, LOW);*

  • delayMicroseconds(2);*

  • digitalWrite(pingPin, HIGH);*

  • delayMicroseconds(5);*

  • digitalWrite(pingPin, LOW);*

  • // The same pin is used to read the signal from the PING))): a HIGH*

  • // pulse whose duration is the time (in microseconds) from the sending*

  • // of the ping to the reception of its echo off of an object.*

  • pinMode(pingPin, INPUT);*

  • durationD = pulseIn(pingPin, HIGH);*

  • // convert the time into a distance*

  • inchesD = microsecondsToInches(durationD);*

  • cmD = microsecondsToCentimeters(durationD);*

  • myservo.write(100);*

  • delay(1000);*

  • delay(100);*

  • if(cmI<cmD)*

  • {*

  • Serial.println("girar izquierda");*

  • myservo2.write(140);*

  • delay(1000);*

  • }*

  • if(cmI>=cmD)*

  • {*

  • Serial.println("girar derecha");*

  • digitalWrite(13,HIGH);*

  • myservo2.write(60);*

  • delay(1000);*

  • }*

  • }*

  • if(cm>=71)*

  • {*

  • //myservo.write(100);*

  • myservo2.write(100);*

  • digitalWrite(13,LOW);*

  • }*

  • }*
    }
    long microsecondsToInches(long microseconds)
    {

  • // According to Parallax's datasheet for the PING))), there are*

  • // 73.746 microseconds per inch (i.e. sound travels at 1130 feet per*

  • // second). This gives the distance travelled by the ping, outbound*

  • // and return, so we divide by 2 to get the distance of the obstacle.*

  • // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf*

  • return microseconds / 74 / 2;*
    }
    long microsecondsToCentimeters(long microseconds)
    {

  • // The speed of sound is 340 m/s or 29 microseconds per centimeter.*

  • // The ping travels out and back, so to find the distance of the*

  • // object we take half of the distance travelled.*

  • return microseconds / 29 / 2;*
    }