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[on:]

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!!

[Reply #1 on:]

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

[Reply #2 on:]

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.

[Reply #3 on:]

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;
}