Hi there,
I'm a new Arduino user and I started to learn from the board after working with other boards such as the GENIE 18 Board for other school projects. For my final state exam before university (Irish Leaving Certificate) project, I decided to use an Arduino since I really want to try new paths and I came up with this. I've learned the code and basics on Arduino's Software Editor and I made a script that can automatically determine the distance and rotating the project I made to suit the brief.
However the theme is disability, and I decided to go a step further adding a platform that allows wheelchair users to get into the vehicle and allow some form of accessibility.
Here are some screenshots based on my project from SolidWorks (All self made with only the board, motors and sensors that are from GrabCad) and the code is attached in this post also.
I'm really confused on one thing which is programming the platform. For my project I plan to turn on the SPST Switch and then the platform goes down and waits for 10 seconds before going back up again. But I'm really concerned if one bit of code can interfere with the main code which I'm using right now
For my project I'm using the L293D 4-Channel Motor Board and an Arduino Uno R3 with a battery (6x AAA) so I'm concerned if there would be a lot of load on the batteries since I'm using 2 Servo's (1 is the Sensor, 1 is the Platform, 4 Gearbox Motors to control the vehicle and 4 LEDs that are connected to the same terminal block with the gearbox motors)
Drive Link: Technology Leaving Certificate Project 2022 - Google Drive
(Platform Down - Allows people to get in with limited ability)
Here is the Code:
//Arduino Uno R3 Vehicle Test Code//
//AFMotor Library https://learn.adafruit.com/adafruit-motor-shield/library-install //
//NewPing Library https://github.com/livetronic/Arduino-NewPing//
//Servo Library https://github.com/arduino-libraries/Servo.git //
// To Install the libraries go to sketch >> Include Library >> Add .ZIP File >> Select the Downloaded ZIP files From the Above links //
#include <AFMotor.h>
#include <NewPing.h>
#include <Servo.h>
#define TRIG_PIN A0
#define ECHO_PIN A1
#define MAX_DISTANCE 200
#define MAX_SPEED 190 // sets speed of DC motors
#define MAX_SPEED_OFFSET 20
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);
Servo myservo;
boolean goesForward=false;
int distance = 100;
int speedSet = 0;
void setup() {
myservo.attach(10);
myservo.write(115);
delay(2000);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}
void loop() {
int distanceR = 0;
int distanceL = 0;
delay(40);
if(distance<=15)
{
moveStop();
delay(100);
moveBackward();
delay(300);
moveStop();
delay(200);
distanceR = lookRight();
delay(200);
distanceL = lookLeft();
delay(200);
if(distanceR>=distanceL)
{
turnRight();
moveStop();
}else
{
turnLeft();
moveStop();
}
}else
{
moveForward();
}
distance = readPing();
}
int lookRight()
{
myservo.write(50);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
}
int lookLeft()
{
myservo.write(170);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
delay(100);
}
int readPing() {
delay(70);
int cm = sonar.ping_cm();
if(cm==0)
{
cm = 250;
}
return cm;
}
void moveStop() {
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
}
void moveForward() {
if(!goesForward)
{
goesForward=true;
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
{
motor1.setSpeed(speedSet);
motor2.setSpeed(speedSet);
motor3.setSpeed(speedSet);
motor4.setSpeed(speedSet);
delay(5);
}
}
}
void moveBackward() {
goesForward=false;
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly
{
motor1.setSpeed(speedSet);
motor2.setSpeed(speedSet);
motor3.setSpeed(speedSet);
motor4.setSpeed(speedSet);
delay(5);
}
}
void turnRight() {
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
delay(500);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
void turnLeft() {
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
delay(500);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
Any help or guidance would be really appreciated thanks!