Compre un carro de 4 motores el cual venia con este codigo, no he logrado hacerlo funcionar

International Español Software
1

#include <SoftwareSerial.h>

SoftwareSerial mySerial(A0,A1); // RX, TX
String BT_value;
String BT_value_temp;
volatile int Front_Distance;
volatile boolean Flag=true;

const int Trig = A3;
const int Echo= A2;
const int PWM2A = 11; //M1 motor
const int PWM2B = 3; //M2 motor
const int PWM0A = 6; //M3 motor
const int PWM0B = 5; //M4 motor
const int DIR_CLK = 4; // Data input clock line
const int DIR_EN = 7; //Equip the L293D enabling pins
const int DATA = 8; // USB cable
const int DIR_LATCH = 12; // Output memory latch clock
//Define the pin of ultrasonic obstacle avoidance sensor
//Define motion state
const int Move_Forward = 39; //Move Forward
const int Move_Backward = 216; //Move Backward
const int Left_Move= 116; //Left translation
const int Right_Move = 139; //Right translation
const int Right_Rotate = 149; //Rotate Left
const int Left_Rotate = 106; //Rotate Left
const int Stop = 0; //Parking variable
const int Upper_Left_Move = 36; //Upper Left Move
const int Upper_Right_Move = 3; //Upper Right Move
const int Lower_Left_Move = 80; //Lower Left Move
const int Lower_Right_Move = 136; //Lower Right Move
const int Drift_Left = 20; //Drift on Left
const int Drift_Right = 10; //Drift on Right
//Set the default speed between 1 and 255

int Speed1 = 255;
int Speed2 = 255;
int Speed3 = 255;
int Speed4 = 255;

void Motor(int Dir,int Speed1,int Speed2,int Speed3,int Speed4)
{
analogWrite(PWM2A,Speed1); //Motor PWM speed regulation
analogWrite(PWM2B,Speed2); //Motor PWM speed regulation
analogWrite(PWM0A,Speed3); //Motor PWM speed regulation
analogWrite(PWM0B,Speed4); //Motor PWM speed regulation

digitalWrite(DIR_LATCH,LOW); //DIR_LATCH sets the low level and writes the direction of motion in preparation
shiftOut(DATA,DIR_CLK,MSBFIRST,Dir);//Write Dir motion direction value
digitalWrite(DIR_LATCH,HIGH);//DIR_LATCH sets the high level and outputs the direction of motion

}

float checkdistance() {
digitalWrite(Trig, LOW);
delayMicroseconds(2);
digitalWrite(Trig, HIGH);
delayMicroseconds(10);
digitalWrite(Trig, LOW);
float distance = pulseIn(Echo, HIGH) / 58.00;
delay(10);
return distance;
}

void Ultrasonic_Avoidance()
{
int Front_Distance=0;

Front_Distance = checkdistance();
if (0 < Front_Distance && Front_Distance <= 45) {
if (Front_Distance<=20) {
Flag=!Flag;
Motor(Stop,0,0,0,0);
delay(250);
Motor(Move_Backward,Speed1,Speed2,Speed3,Speed4);
delay(200);
Motor(Stop,0,0,0,0);
delay(250);
if (Flag)
{
Motor(Left_Rotate,Speed1,Speed2,Speed3,Speed4);
} else
{
Motor(Right_Rotate,Speed1,Speed2,Speed3,Speed4);
}
delay(100);
Motor(Stop,0,0,0,0);
delay(250);

} else {
  Motor(Stop,0,0,0,0);
  delay(250);
  if (Flag) 
  {
  Motor(Left_Rotate,Speed1,Speed2,Speed3,Speed4);
  } else 
  {
  Motor(Right_Rotate,Speed1,Speed2,Speed3,Speed4);
  }
  delay(100);
  Motor(Stop,0,0,0,0);
  delay(250); 
}

} else {
Motor(Move_Forward,100,100,100,100);

}
}

void Ultrasonic_Follow()
{
Front_Distance = checkdistance();
if ( (Front_Distance >=0)&&(Front_Distance <= 10))
{
Motor(Move_Backward,Speed1,Speed2,Speed3,Speed4);
delay(20);
} else if ( (Front_Distance > 10) && (Front_Distance <= 15) ) {
Motor(Stop,0,0,0,0);
delay(20);
}
else
{
Motor(Move_Forward,170,170,170,170);
delay(20);
}
}

void setup(){

BT_value = "";
BT_value_temp = "";
Front_Distance = 0;

mySerial.begin(9600);//Set the myserial port baud rate 9600
Serial.begin(9600);//Set the serial port baud rate 9600
//Configure as output mode
pinMode(DIR_CLK,OUTPUT);
pinMode(DATA,OUTPUT);
pinMode(DIR_EN,OUTPUT);
pinMode(DIR_LATCH,OUTPUT);
pinMode(PWM0B,OUTPUT);
pinMode(PWM0A,OUTPUT);
pinMode(PWM2A,OUTPUT);
pinMode(PWM2B,OUTPUT);
pinMode(Trig, OUTPUT);
pinMode(Echo, INPUT);
}

void loop(){
while (true) {
while (mySerial.available() > 0)
{
BT_value_temp = BT_value_temp + ((char)(mySerial.read()));
delay(2);
if (!mySerial.available() > 0) {
BT_value = BT_value_temp;
BT_value_temp = "";

  }
}
if (0 < String(BT_value).length()) 
{
  Serial.println(BT_value);
  //Serial.println(String(BT_value).length());
  if (4 >= String(BT_value).length()) 
  {
    if ('%' == String(BT_value).charAt(0) && '#' == String(BT_value).charAt((String(BT_value).length() - 1))) 
    {
      switch (String(BT_value).charAt(1)) 
      {
        case 'A':
        Motor(Move_Forward,Speed1,Speed2,Speed3,Speed4);
        delay(200);
        BT_value = "";
        break;
       case 'B':
        Motor(Move_Backward,Speed1,Speed2,Speed3,Speed4);
        delay(200);
        BT_value = "";
        break;
       case 'C':
        Motor(Left_Move,Speed1,Speed2,Speed3,Speed4);
        delay(200);
        BT_value = "";
        break;
       case 'D':
        Motor(Right_Move,Speed1,Speed2,Speed3,Speed4);
        delay(200);
        BT_value = "";
        break;
       case 'E':
        Motor(Left_Rotate,Speed1,Speed2,Speed3,Speed4);
        delay(100);
        BT_value = "";
        break;
       case 'F':
        Motor(Right_Rotate,Speed1,Speed2,Speed3,Speed4);
        delay(100);
        BT_value = "";
        break;
       case 'G':
        Motor(Upper_Left_Move,Speed1,Speed2,Speed3,Speed4);
        delay(300);
        BT_value = "";
        break;
       case 'H':
        Motor(Upper_Right_Move,Speed1,Speed2,Speed3,Speed4);
        delay(300);
        BT_value = "";
        break;
       case 'I':
        Motor(Lower_Left_Move,Speed1,Speed2,Speed3,Speed4);
        delay(300);
        BT_value = "";
        break;
       case 'J':
        Motor(Lower_Right_Move,Speed1,Speed2,Speed3,Speed4);
        delay(300);
        BT_value = "";
        break;
       case 'K':
        Motor(Drift_Left,Speed1,Speed2,Speed3,Speed4);
        delay(300);
        BT_value = "";
        break;
       case 'L':
        Motor(Drift_Right,Speed1,Speed2,Speed3,Speed4);
        delay(300);
        BT_value = "";
        break;
       case 'T':
        Ultrasonic_Avoidance();
        break;
       case 'W':
        Ultrasonic_Follow();
        break;
       case 'S':
        BT_value = "";
        Motor(Stop,0,0,0,0);
        break;
      }

    }

  } else 
  {
    BT_value = "";
    Motor(Stop,0,0,0,0);

  }

} else 
{
  Motor(Stop,0,0,0,0);

}

}

}

2

He trasladado su tema de una categoría de idioma inglés del foro a la categoría International > Español @marisolrc1 .

En adelante por favor usar la categoría apropiada a la lengua en que queráis publicar. Esto es importante para el uso responsable del foro, y esta explicado aquí la guía "How to get the best out of this forum".
Este guía contiene mucha información útil. Por favor leer.

De antemano, muchas gracias por cooperar.

1 Like
3

Moderador:
Por favor, lee las Normas del foro
Si posteas en el foro en inglés usa idioma inglés para expresarte.
Si escribes en español debes usar el foro Arduino en español.
Edita también tu código/error usando etiquetas de código.
Ve a edición, luego selecciona todo el código que has publicado, lo cortas y click en <CODE/>

image
image811×256 22.2 KB

4

Disculpa, soy nueva en todo esto. Aquí esta acomodado con la opción de code.

No he podido encontrar la manera de hacerle funcionar. no me aparecen errores cuando lo compilo y al cargarlo en la placa no funciona

#include <SoftwareSerial.h>

SoftwareSerial mySerial(A0,A1); // RX, TX
String BT_value;
String BT_value_temp;
volatile int Front_Distance;
volatile boolean Flag=true;

const int Trig = A3;
const int Echo= A2; 
const int PWM2A = 11;      //M1 motor
const int PWM2B = 3;       //M2 motor  
const int PWM0A = 6;       //M3 motor 
const int PWM0B = 5;       //M4 motor
const int DIR_CLK = 4;     // Data input clock line
const int DIR_EN = 7;      //Equip the L293D enabling pins
const int DATA = 8;        // USB cable
const int DIR_LATCH = 12;  // Output memory latch clock
//Define the pin of ultrasonic obstacle avoidance sensor
//Define motion state
const int Move_Forward = 39;    //Move Forward
const int Move_Backward = 216;      //Move Backward
const int Left_Move= 116;      //Left translation
const int Right_Move = 139;     //Right translation
const int Right_Rotate = 149;     //Rotate Left
const int Left_Rotate = 106;     //Rotate Left
const int Stop = 0;        //Parking variable
const int Upper_Left_Move = 36;    //Upper Left Move
const int Upper_Right_Move = 3;    //Upper Right Move
const int Lower_Left_Move = 80;    //Lower Left Move
const int Lower_Right_Move = 136;    //Lower Right Move
const int Drift_Left = 20;    //Drift on Left
const int Drift_Right = 10;    //Drift on Right
//Set the default speed between 1 and 255


int Speed1 = 255;
int Speed2 = 255;
int Speed3 = 255;
int Speed4 = 255;








void Motor(int Dir,int Speed1,int Speed2,int Speed3,int Speed4)
{
    analogWrite(PWM2A,Speed1); //Motor PWM speed regulation
    analogWrite(PWM2B,Speed2); //Motor PWM speed regulation
    analogWrite(PWM0A,Speed3); //Motor PWM speed regulation
    analogWrite(PWM0B,Speed4); //Motor PWM speed regulation
    
    digitalWrite(DIR_LATCH,LOW); //DIR_LATCH sets the low level and writes the direction of motion in preparation
    shiftOut(DATA,DIR_CLK,MSBFIRST,Dir);//Write Dir motion direction value
    digitalWrite(DIR_LATCH,HIGH);//DIR_LATCH sets the high level and outputs the direction of motion
}


float checkdistance() {
  digitalWrite(Trig, LOW);
  delayMicroseconds(2);
  digitalWrite(Trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig, LOW);
  float distance = pulseIn(Echo, HIGH) / 58.00;
  delay(10);
  return distance;
}

void Ultrasonic_Avoidance() 
{
  int Front_Distance=0;
  
  Front_Distance = checkdistance();
  if (0 < Front_Distance && Front_Distance <= 45) {
    if (Front_Distance<=20) {
      Flag=!Flag;
      Motor(Stop,0,0,0,0);
      delay(250);
      Motor(Move_Backward,Speed1,Speed2,Speed3,Speed4);
      delay(200);
      Motor(Stop,0,0,0,0);
      delay(250);
      if (Flag) 
      {
      Motor(Left_Rotate,Speed1,Speed2,Speed3,Speed4);
      } else 
      {
      Motor(Right_Rotate,Speed1,Speed2,Speed3,Speed4);
      }   
      delay(100);
      Motor(Stop,0,0,0,0);
      delay(250);

    } else {
      Motor(Stop,0,0,0,0);
      delay(250);
      if (Flag) 
      {
      Motor(Left_Rotate,Speed1,Speed2,Speed3,Speed4);
      } else 
      {
      Motor(Right_Rotate,Speed1,Speed2,Speed3,Speed4);
      }
      delay(100);
      Motor(Stop,0,0,0,0);
      delay(250); 
    }

  } else {
    Motor(Move_Forward,100,100,100,100);

  }
}



void Ultrasonic_Follow() 
{
  Front_Distance = checkdistance();
  if ( (Front_Distance >=0)&&(Front_Distance <= 10)) 
  {
    Motor(Move_Backward,Speed1,Speed2,Speed3,Speed4);
    delay(20);
  } else if ( (Front_Distance > 10) && (Front_Distance <= 15) ) {
    Motor(Stop,0,0,0,0);
    delay(20);
  } 
  else
  {
    Motor(Move_Forward,170,170,170,170);
    delay(20);
  }
}



void setup(){

  BT_value = "";
  BT_value_temp = "";
  Front_Distance = 0;

  mySerial.begin(9600);//Set the myserial port baud rate 9600
  Serial.begin(9600);//Set the serial port baud rate 9600
  //Configure as output mode
  pinMode(DIR_CLK,OUTPUT);
  pinMode(DATA,OUTPUT);
  pinMode(DIR_EN,OUTPUT);
  pinMode(DIR_LATCH,OUTPUT);
  pinMode(PWM0B,OUTPUT);
  pinMode(PWM0A,OUTPUT);
  pinMode(PWM2A,OUTPUT);
  pinMode(PWM2B,OUTPUT);
  pinMode(Trig, OUTPUT);
  pinMode(Echo, INPUT);
}

void loop(){
  while (true) {
    while (mySerial.available() > 0) 
    {
      BT_value_temp = BT_value_temp + ((char)(mySerial.read()));
      delay(2);
      if (!mySerial.available() > 0) {
        BT_value = BT_value_temp;
        BT_value_temp = "";

      }
    }
    if (0 < String(BT_value).length()) 
    {
      Serial.println(BT_value);
      //Serial.println(String(BT_value).length());
      if (4 >= String(BT_value).length()) 
      {
        if ('%' == String(BT_value).charAt(0) && '#' == String(BT_value).charAt((String(BT_value).length() - 1))) 
        {
          switch (String(BT_value).charAt(1)) 
          {
            case 'A':
            Motor(Move_Forward,Speed1,Speed2,Speed3,Speed4);
            delay(200);
            BT_value = "";
            break;
           case 'B':
            Motor(Move_Backward,Speed1,Speed2,Speed3,Speed4);
            delay(200);
            BT_value = "";
            break;
           case 'C':
            Motor(Left_Move,Speed1,Speed2,Speed3,Speed4);
            delay(200);
            BT_value = "";
            break;
           case 'D':
            Motor(Right_Move,Speed1,Speed2,Speed3,Speed4);
            delay(200);
            BT_value = "";
            break;
           case 'E':
            Motor(Left_Rotate,Speed1,Speed2,Speed3,Speed4);
            delay(100);
            BT_value = "";
            break;
           case 'F':
            Motor(Right_Rotate,Speed1,Speed2,Speed3,Speed4);
            delay(100);
            BT_value = "";
            break;
           case 'G':
            Motor(Upper_Left_Move,Speed1,Speed2,Speed3,Speed4);
            delay(300);
            BT_value = "";
            break;
           case 'H':
            Motor(Upper_Right_Move,Speed1,Speed2,Speed3,Speed4);
            delay(300);
            BT_value = "";
            break;
           case 'I':
            Motor(Lower_Left_Move,Speed1,Speed2,Speed3,Speed4);
            delay(300);
            BT_value = "";
            break;
           case 'J':
            Motor(Lower_Right_Move,Speed1,Speed2,Speed3,Speed4);
            delay(300);
            BT_value = "";
            break;
           case 'K':
            Motor(Drift_Left,Speed1,Speed2,Speed3,Speed4);
            delay(300);
            BT_value = "";
            break;
           case 'L':
            Motor(Drift_Right,Speed1,Speed2,Speed3,Speed4);
            delay(300);
            BT_value = "";
            break;
           case 'T':
            Ultrasonic_Avoidance();
            break;
           case 'W':
            Ultrasonic_Follow();
            break;
           case 'S':
            BT_value = "";
            Motor(Stop,0,0,0,0);
            break;
          }

        }

      } else 
      {
        BT_value = "";
        Motor(Stop,0,0,0,0);

      }

    } else 
    {
      Motor(Stop,0,0,0,0);

    }
    
  }

}
5

Creo que sigues sin leer las normas del foro, me refiero a que el contexto de la situación es bastante limitado o casi nulo.
Compraste un carro (auto) de 4 motores, que viene con el programa y no funciona.

  1. Probaste las baterías?
    Qué baterías usa? Si es una de 9V seguro esta agotada y misma suerte si son AA o AAA. No sirven para muchas pruebas. Si son recargables verifica tensión.
    Tienes tester o multímetro para medir la tensión de las baterías?
    Sabes medir con el?
    Recomendación, usar baterias LiPO 18650 , minimo 2 en serie, pero me adelanto porque no se como es el carro o auto. Normalmente usas un L298 que tiene regulador de tensión y admite tensiones de 6 o mas sin problemas para los motores.

  2. Esquema. Coloca un esquema o el link de donde compraste el auto o carro.

  3. Prueba individualmente las cosas. Motores, ultrasónico, salida serial de BT.
    Lograste vincularte con el BT, que BT es? 05 o 06?