PLATOONING PROJECT

Projects General Guidance
1

USING BOTH COMPONENTS BELOW FOR:

  1. PIXY(FOLLOW MASTER BACK COLOUR BOARD)
  2. ULTRASONIC (KEEP DISTANCE BETWEEN MASTER AND SLAVE AT CERTAIN RANGE)

BELOW IS THE CODE I COMBINED WITH PIXY AND ULTRASONIC SENSOR CODE:

while(millis()<5000){
pixycamera();
area = width * height; //calculate the object area
maxArea = area + 1000;
minArea = area - 1000;
}

pixycamera();

//looking for signature 1****//
if(signature == 1)
{
//calculate the object area****//
newarea = width * height;

//turn left if x position < max x position****//
if (x < Xmin)
{
Left();
}
//turn right if x position > max x position****//
else if (x > Xmax)
{
Right();
}
//go forward if object too small****//
else if(newarea < minArea)
{
if (distance >= 15) {
Forward();
Serial.print("Move forward");
}
if (distance <= 15 && distance > 10) {
Forward();
Serial.print("Move Forward");
}
//Forward();
}
//go backward if object too big****//
else if(newarea > maxArea)
{
if (distance <= 5 && distance > 3) {
Backward();
Serial.print("Move Backward");
}
//Backward();
}

//else stop****//
else
{
if (distance <= 3){
Stop();
Serial.print("Stop");
}
}
}
else
{
Stop();
}
}

The problem is the slave ignore ultrasonic part and only detect master colour board.

How to fix this? Is it wrong to make IF statement under IF statement?

Thank you

2

BELOW IS THE CODE I COMBINED WITH PIXY AND ULTRASONIC SENSOR CODE

That is SOME of the code. So, some of my answer is:
Well, obviously, you need to change

3

Which part do I need to change? All parts or just ultrasonic sensor?

4

Fahmi06:
Which part do I need to change? All parts or just ultrasonic sensor?

First you need to post the complete program.

Please post your program using the code button </> so it looks like this. See How to use the Forum. It makes it much easier for people to help you

...R

5 
#include <AFMotor.h>
#include <SPI.h>  
#include <Pixy.h>

Pixy pixy;

//**********************PIXYCAMERA-PIXYMON********************//
int signature = 0;
int x = 0;                      //positon x axis
int y = 0;                      //position y axis
unsigned int width = 0;         //object's width (UNSIGNED INT : NO -VE VALUE : 0-65535) 
unsigned int height = 0;        //object's height
unsigned int area = 0;
unsigned int newarea = 0;
int Xmin = 70;                  //min x position
int Xmax = 200;                 //max x position
int maxArea = 0;
int minArea = 0;
static int i = 0;

//**************DEFINES SENSOR PINS NUMBERS********************//
const int trigPin = 38; //10;
const int echoPin = 36; //9;

//**************DEFINES MOTOR PORT********************//
AF_DCMotor motor1(1); // create motor #1, 8KHz pwm
AF_DCMotor motor2(2); // create motor #2, 8KHz pwm
AF_DCMotor motor3(3); // create motor #3, 8KHz pwm
AF_DCMotor motor4(4); // create motor #4, 8KHz pwm

//**************UNIVERSAL DEFINES VARIABLES********************//
long duration;
int distance;

//****************PROGRAM OR CODE RUN ONCE********************//
void setup() {
  Serial.begin(9600); //Serial.begin(9600); // set up Serial library at 9600 bps
  Serial.println("Motor test with Ultrasonic Sensor!");
  motorspeed();
 
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
 
  Stop();
  pixy.init();
}

//****************PROGRAM OR CODE RUN REPEATEDLY**************//
void loop() {

//*************ULTRASONIC SENSOR MEASURE DISTANCE BETWEEN MASTER AND SLAVE*************//
  // Clears the trigPin
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin, HIGH);

  // Calculating the distance
  distance= duration*0.034/2;

  //Prints the distance on the Serial Monitor
  Serial.print("Initial Distance(cm): ");
  Serial.println(distance);
//*************MOTOR WILL MOVE ACCORDING PIXY*************//  
  
   while(millis()<5000){
    pixycamera();
    area = width * height; //calculate the object area 
    maxArea = area + 1000;
    minArea = area - 1000;
  }

    pixycamera(); 
    
  //**********looking for signature 1**************//
  if(signature == 1)
  {
    //**********calculate the object area**************//
    newarea = width * height; 
    
      //**********turn left if x position < max x position**************//
      if (x < Xmin)
      {     
        Left();
      }
      //**********turn right if x position > max x position**************//
      else if (x > Xmax) 
      {
        Right();
      }
      //**********go forward if object too small**************//
      else if(newarea < minArea)
      {
          if (distance >= 15) {
              Forward();
              Serial.print("Move forward");
          }
          if (distance <= 15 && distance > 10) {
              Forward();
              Serial.print("Move Forward");
          }
        //Forward(); 
      }
      //**********go backward if object too big**************//
      else if(newarea > maxArea)
      {
           if (distance <= 5 && distance > 3) {
              Backward();
              Serial.print("Move Backward");
          }
        //Backward();
      }
      
      //**********else stop**************//
      else
      {
           if (distance <= 3){
              Stop();
              Serial.print("Stop");
          }
      } 
   }
   else
   {
     Stop();
   }
}

//*************MOTOR FUNCTION (FORWARD, BACKWARD, RIGHT OR LEFT)*************//
void motorspeed(){
  motor1.setSpeed(100); // set the speed to 100/255
  motor2.setSpeed(100); // set the speed to 100/255
  motor3.setSpeed(100); // set the speed to 100/255
  motor4.setSpeed(100); // set the speed to 100/255
}


void Forward(){
      motorspeed();
      motor1.run(FORWARD); // turn it on going forward
      motor2.run(FORWARD); 
      motor3.run(FORWARD); 
      motor4.run(FORWARD); 
 }

void Backward(){
      motorspeed();
      motor1.run(BACKWARD); // turn it on going backward
      motor2.run(BACKWARD); 
      motor3.run(BACKWARD); 
      motor4.run(BACKWARD); 
 }

void Stop(){
      motorspeed();
      motor1.run(RELEASE); // stop
      motor2.run(RELEASE); 
      motor3.run(RELEASE); 
      motor4.run(RELEASE); 
 }

 void Right(){
      motorspeed();
      motor1.run(FORWARD); // turn it on going forward
      motor2.run(BACKWARD); 
      motor3.run(BACKWARD); 
      motor4.run(FORWARD); 
 }

 void Left(){
      motorspeed();
      motor1.run(BACKWARD); // turn it on going forward
      motor2.run(FORWARD); 
      motor3.run(FORWARD); 
      motor4.run(BACKWARD); 
 }
 
//******************PIXYCAMERA FUNCTION: DETECT THE WIDHT, HEIGHT,X-Y POSITION, BLOCKS OR OBJECTS****************//
void pixycamera(){
  uint16_t blocks;
  blocks = pixy.getBlocks();  //receive data from pixy 
  signature = pixy.blocks[i].signature;    //get object's signature
  x = pixy.blocks[i].x;                    //get x position
  y = pixy.blocks[i].y;                    //get y position
  width = pixy.blocks[i].width;            //get width
  height = pixy.blocks[i].height;          //get height  
}
6

PIXY*************//

while(millis()<5000){
pixycamera();
area = width * height; //calculate the object area
maxArea = area + 1000;
minArea = area - 1000;
}

This will only work during the first five seconds from switch on after that it will never be run again. Is this what you want?
Read up on how to use the millis timer. There may well be other problems with your code as well.

7

Grumpy_Mike:
This will only work during the first five seconds from switch on after that it will never be run again. Is this what you want?
Read up on how to use the millis timer. There may well be other problems with your code as well.

Hi,

I don't think that part cause a problem.

The Pixycam work well and can detect the object colour every 5 seconds.

The one that not function when I'm putting the ultrasonic sonic into the pixy part and the sensor do not keep the distance between the master and slave.

8

I don't think that part cause a problem.

So if you are happy to run it only once then put that bit ( without the while loop ) into the setup function.