This is my first real Arduino project. I was amazed how simple it was all this is what I create in a sunday afternoon.
I created a robot with 3 ir sensors and a sonar on a servo.
Here is a part list:
Base plate inc motors 16 euro
Arduino 8 euro
Left and right IR sensor, 3,50 euro a piece (these are rated for 10-30 volt, but still works at 5 volt just fine)
Mid IR sensor 4 euro
Sonar sensor 5 euro
mini servo 3,50 euro
motor shield 12 euro
protoshield 4 euro
RF1100-232 transciever 433mhz 8 euro
Ok it's still messy, just a first prototype:
I can't find many example robot codes on the net, so I post mine here, still it need some work on the sonar sensor part en servo.
This is my fist code, so comments are more then welcome on the code:
//Robot Code
// servo
#include <Servo.h>
Servo myservo; // create servo object to control a servo
int pos = 0; // variable to store the servo position
// sonar code, mostly taken from luckylarry.co.uk
const int numOfReadings = 5; // number of readings to take/ items in the array
int readings[numOfReadings]; // stores the distance readings in an array
int arrayIndex = 0; // arrayIndex of the current item in the array
int total = 0; // stores the cumlative total
int averageDistance = 0; // stores the average value
// setup pins and variables for SRF05 sonar device
int echoPin = 2; // SRF05 echo pin (digital 2)
int initPin = 3; // SRF05 trigger pin (digital 3)
unsigned long pulseTime = 0; // stores the pulse in Micro Seconds
unsigned long distance = 0; // variable for storing the distance (cm)
//Arduino PWM Speed Control based upon code from dfrobot[ch65306]
const int E1 = 6;
const int M1 = 7;
const int E2 = 5;
const int M2 = 4;
//IR sensors
const int IRsensorFm = 2; // pin that the FRONT middle sensor is attached to
const int IRsensorFl = 1; // pin that the FRONT left sensor is attached to
const int IRsensorFr = 0; // pin that the FRONT right sensor is attached to
int sensorValue = 0;
// LED pin
const int ledPin = 13;
void setup()
{
myservo.attach(11); // attaches the servo on pin 11 to the servo object
pinMode(initPin, OUTPUT); // set init pin 3 as output
pinMode(echoPin, INPUT); // set echo pin 2 as input
pinMode(M1, OUTPUT);
pinMode(M2, OUTPUT);
pinMode (IRsensorFm, INPUT);
pinMode (IRsensorFl, INPUT);
pinMode (IRsensorFr, INPUT);
pinMode(ledPin, OUTPUT);
digitalWrite(ledPin, LOW);
// open the serial port:
Serial.begin(19200);
delay(1000);
Serial.println("I am alive!");
// create array loop to iterate over every item in the array
for (int thisReading = 0; thisReading < numOfReadings; thisReading++) {
readings[thisReading] = 0;
}
}
void loop()
{
//myservo.write(45); // tell servo to go to position in variable 'pos'
//delay(1000);
digitalWrite(initPin, HIGH); // send 10 microsecond pulse
delayMicroseconds(10); // wait 10 microseconds before turning off
digitalWrite(initPin, LOW); // stop sending the pulse
pulseTime = pulseIn(echoPin, HIGH); // Look for a return pulse, it should be high as the pulse goes low-high-low
distance = pulseTime/58; // Distance = pulse time / 58 to convert to cm.
total= total - readings[arrayIndex]; // subtract the last distance
readings[arrayIndex] = distance; // add distance reading to array
total= total + readings[arrayIndex]; // add the reading to the total
arrayIndex = arrayIndex + 1; // go to the next item in the array
// At the end of the array (10 items) then start again
if (arrayIndex >= numOfReadings) {
arrayIndex = 0;
}
averageDistance = total / numOfReadings; // calculate the average distance
// if the distance is less than xx then change direction
if (averageDistance < 30) {
turnleft(200);
}
Serial.println(averageDistance, DEC);
// while the front sensor reading is low
if (analogRead(IRsensorFm) <= 300) {
sensorValue = analogRead(IRsensorFm);
//Serial.println(sensorValue);
digitalWrite(ledPin, HIGH);
stopmoter(1000);
backwards(400);
turnleft(800);
stopmoter(1000);
}
// while the front left sensor reading is low
else if (analogRead(IRsensorFl) <= 300) {
digitalWrite(ledPin, HIGH);
stopmoter(1000);
backwards(400);
stopmoter(100);
turnright(400);
stopmoter(1000);
}
// while the front right sensor reading is low
else if (analogRead(IRsensorFr) <= 300) {
digitalWrite(ledPin, HIGH);
stopmoter(1000);
backwards(400);
stopmoter(100);
turnleft(400);
stopmoter(1000);
}
else {
digitalWrite(ledPin, LOW);
forward(); // No obstacle detected, so move forward
//myservo.write(165); // tell servo to go to position in variable 'pos'
//delay(1000);
}
}
void forward() {
// turn on motor forward
digitalWrite(M1,HIGH);
digitalWrite(M2, LOW);
analogWrite(E1, 140); //PWM Speed Control
analogWrite(E2, 140); //PWM Speed Control
}
void backwards(int time) {
// turn on motor backwards
digitalWrite(M1,LOW);
digitalWrite(M2, HIGH);
analogWrite(E1, 120); //PWM Speed Control
analogWrite(E2, 120); //PWM Speed Control
Serial.println("Backwards");
delay(time);
}
void stopmoter(int time) {
analogWrite(E1, 0); //PWM Speed Control
analogWrite(E2, 0); //PWM Speed Control
Serial.println("Stop");
delay(time);
}
void turnleft(int time) {
// turn on motor backwards
digitalWrite(M1,HIGH);
digitalWrite(M2, HIGH);
analogWrite(E1, 150); //PWM Speed Control
analogWrite(E2, 150); //PWM Speed Control
Serial.println("turnleft");
delay(time);
}
void turnright(int time) {
// turn on motor backwards
digitalWrite(M1,LOW);
digitalWrite(M2, LOW);
analogWrite(E1, 120); //PWM Speed Control
analogWrite(E2, 120); //PWM Speed Control
Serial.println("turnright");
delay(time);
}
