Hi Everyone!
I'm making a simple Obstacle Avoiding Car using an Arduino Uno and a DEVMO L293D Motor Drive Shield. My servo motor on the front for the Ultrasonic Sensor to look around is the MG996R Servo. I have two 18650 batteries in series for external power.
My servo motor works fine when connected to my Macbook. When connected to external power, it barely moves. Can anyone tell me why? My code is below (I am currently just using it to test the Servo).
Thank you so much!
#include <AFMotor.h>
#include <Servo.h>
const int pingPin = 10;
Servo myservo;
int MAX_SPEED = 90;
int turnSpeed = 60;
char direction = "";
int speedSet = 0;
int distance = 0;
bool atSpeed = false;
int turnDelay = 700;
AF_DCMotor motor1(1, MOTOR12_1KHZ); //BACK LEFT
AF_DCMotor motor2(2, MOTOR12_1KHZ); // BACK RIGHT
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);
void setup() {
// put your setup code here, to run once:
myservo.attach(9);
myservo.write(90);
motorStop();
delay(3000);
}
void loop() {
// put your main code here, to run repeatedly:
delay(10);
// distance = returnDistance();
// run();
lookAround();
delay(5000);
}
void run(){
//If returnDistance is greater than 900, move forward
if(distance > 1000){
motorForward();
}
//If you are close to something, stop, move backwards, stop, look around, move in direction of more space, then keep moving forward
else{
motorStop();
delay(500);
motorBackward();
delay(500);
motorStop();
direction = lookAround();
delay(200);
if(direction == 'l'){
motorLeft();
delay(turnDelay);
motorStop();
delay(500);
}
else{
motorRight();
delay(turnDelay);
motorStop();
delay(500);
}
}
}
int returnDistance(){
long duration;
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
return duration;
}
char lookAround(){
int l, r = 0;
delay(100);
myservo.write(160);
delay(1000);
l = returnDistance();
delay(200);
myservo.write(20);
delay(1000);
r = returnDistance();
delay(200);
myservo.write(90);
delay(1000);
if(l > r){
return 'l';
}
else{
return 'r';
}
}
void motorStop() {
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
atSpeed = false;
}
void motorForward(){
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
if(atSpeed == false){
for (speedSet = 0; speedSet < MAX_SPEED; speedSet++) {
int speed = map(speedSet, 0, MAX_SPEED, 0, 255);
motor1.setSpeed(speed);
motor2.setSpeed(speed);
motor3.setSpeed(speed);
motor4.setSpeed(speed);
delay(10);
}
atSpeed = true;
}
}
void motorBackward(){
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
if(atSpeed == false){
for (speedSet = 0; speedSet < MAX_SPEED; speedSet++) {
int speed = map(speedSet, 0, MAX_SPEED, 0, 255);
motor1.setSpeed(speed);
motor2.setSpeed(speed);
motor3.setSpeed(speed);
motor4.setSpeed(speed);
delay(10);
}
atSpeed=true;
}
}
void motorRight(){
motor1.run(FORWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(FORWARD);
if(atSpeed == false){
for (speedSet = 0; speedSet < turnSpeed; speedSet++) {
int speed = map(speedSet, 0, turnSpeed, 0, 255);
motor1.setSpeed(speed);
motor2.setSpeed(speed);
motor3.setSpeed(speed);
motor4.setSpeed(speed);
delay(10);
}
atSpeed = true;
}
}
void motorLeft(){
motor1.run(BACKWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(BACKWARD);
if(atSpeed == false){
for (speedSet = 0; speedSet < turnSpeed; speedSet++) {
int speed = map(speedSet, 0, turnSpeed, 0, 255);
motor1.setSpeed(speed);
motor2.setSpeed(speed);
motor3.setSpeed(speed);
motor4.setSpeed(speed);
delay(10);
}
atSpeed = true;
}
}
