I want to add HC-SR04 in my self balancing robot - where it won't collide "wall" in a certain distance.
The previous code is as follows:
if (input>150 && input<200){//If the Bot is falling
if (output>0){ //Falling towards front
Forward(); //Rotate the wheels forward
}
else if (output<0){ //Falling towards back
Reverse(); //Rotate the wheels backward
}
}
else //If Bot not falling
Stop(); //Hold the wheels still
}
Then I add new void Loop_SR04(){ .... } - here's the loop:
void Loop_sr04(){
//delay(40);
unsigned int distance = sonar.ping_cm();
Serial.print(distance);
Serial.println("cm");
}
Then I try to insert the Loop_sr04 into the previous code, like this:
if (input>150 && input<200){//If the Bot is falling
if (output>0){ //Falling towards front
Forward(); //Rotate the wheels forward
Loop_sr04();
}
else if (output<0){ //Falling towards back
Reverse(); //Rotate the wheels backward
Loop_sr04();
}
}
else //If Bot not falling
Stop(); //Hold the wheels still
}
But, the mpu6050 stops working and only shows the work of HC-SR04 plus FIFO Overflow! information in COM4.
What I want is:
- To get distance while the robot is running.
- To make "IF" in 10 CMs will make the robot going backward (to avoid collision).
Note: I have declared the pinout of SR04 as in:
#define TRIGGER_PIN 3
#define ECHO_PIN 13
#define MAX_DISTANCE 200
// NewPing setup of pins and maximum distance
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
and, in void_setup() as in:
Serial.begin (9600); // sonar SR04
ADD (Full code is like this below):
/*Arduino Self Balancing Robot
* Code by: B.Aswinth Raj
* Build on top of Lib: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
* Website: circuitdigest.com
*/
#include <NewPing.h>
#include "I2Cdev.h"
#include <PID_v1.h> //From https://github.com/br3ttb/Arduino-PID-Library/blob/master/PID_v1.h
#include "MPU6050_6Axis_MotionApps20.h" //https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
MPU6050 mpu;
#define TRIGGER_PIN 3
#define ECHO_PIN 13
#define MAX_DISTANCE 200
// NewPing setup of pins and maximum distance
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
/*********Tune these 4 values for your BOT*********/
double setpoint= 177.9;
double Kp = 21;
double Kd = 1;
double Ki = 60;
/******End of values setting*********/
double input, output;
PID pid(&input, &output, &setpoint, Kp, Ki, Kd, DIRECT);
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
mpuInterrupt = true;
}
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin (9600); // sonar SR04
Serial.begin(115200); // MPU6050
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// load and configure the DMP
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1688);
// make sure it worked (returns 0 if so)
if (devStatus == 0)
{
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
//setup PID
pid.SetMode(AUTOMATIC);
pid.SetSampleTime(10);
pid.SetOutputLimits(-255, 255);
}
else
{
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
//Initialise the Motor outpu pins
pinMode (6, OUTPUT);
pinMode (9, OUTPUT);
pinMode (10, OUTPUT);
pinMode (11, OUTPUT);
//By default turn off both the motors
analogWrite(6,LOW);
analogWrite(9,LOW);
analogWrite(10,LOW);
analogWrite(11,LOW);
}
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize)
{
//no mpu data - performing PID calculations and output to motors
pid.Compute();
//Print the value of Input and Output on serial monitor to check how it is working.
Serial.print(input); Serial.print(" =>"); Serial.println(output);
if (input>150 && input<200){//If the Bot is falling
if (output>0){ //Falling towards front
Forward(); //Rotate the wheels forward
}
else if (output<0){ //Falling towards back
Reverse(); //Rotate the wheels backward
}
}
else //If Bot not falling
Stop(); //Hold the wheels still
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
}
else if (mpuIntStatus & 0x02)
{
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
mpu.dmpGetQuaternion(&q, fifoBuffer); //get value for q
mpu.dmpGetGravity(&gravity, &q); //get value for gravity
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); //get value for ypr
input = ypr[1] * 180/M_PI + 180;
}
}
void Forward() //Code to rotate the wheel forward
{
analogWrite(6,output);
analogWrite(9,0);
analogWrite(10,output);
analogWrite(11,0);
Serial.print("F"); //Debugging information
}
void Reverse() //Code to rotate the wheel Backward
{
analogWrite(6,0);
analogWrite(9,output*-1);
analogWrite(10,0);
analogWrite(11,output*-1);
Serial.print("R");
}
void Stop() //Code to stop both the wheels
{
analogWrite(6,0);
analogWrite(9,0);
analogWrite(10,0);
analogWrite(11,0);
Serial.print("S");
}
void Loop_sr04(){
//delay(40);
unsigned int distance = sonar.ping_cm();
Serial.print(distance);
Serial.println("cm");
}
I love copying other code (for some), but not all. I have tried to learn it but many makes me dizzy to understand.
Any help, please.
I will try it again and post it the result right here again. Thanks
See 
