** Issue with Ultrasonic Sensor Alignment in Osoyoo Sports Car V1.0**
I am facing an issue with my Osoyoo Sports Car V1.0's ultrasonic sensor. It is not facing as straight forward as it used to, despite my attempts to reinstall it. I have also tried changing the code and redoing the ultrasonic sensor, but unfortunately, the problem is still ongoing.
Here is my code:
#include <PWMServo.h>
#define IN1 7
#define IN2 8
#define ENA 5 // ENA pin
#define FRONT 95 //degree when steering facing straight forward
int SHARP_RIGHT=FRONT+33;
int SHARP_LEFT=FRONT-40;
int RIGHT=FRONT+17;
int LEFT=FRONT-20;
#define SENSOR_FRONT 90
int SENSOR_LEFT=SENSOR_FRONT+25;
int SENSOR_RIGHT=SENSOR_FRONT-25;
int SENSOR_FAR_LEFT=SENSOR_FRONT+60;
int SENSOR_FAR_RIGHT=SENSOR_FRONT-60;
#define DELAY_TIME 1000
#define SPEED 170
#define FAST_SPEED 200
#define MID_SPEED 170
#define SERVO_STEER 9 //steer servo connect to D9
#define SERVO_SENSOR 10 //Ultrasonic sensor servo connect to D10
#define Echo_PIN 2 // Ultrasonic Echo pin connect to D11
#define Trig_PIN 3 // Ultrasonic Trig pin connect to D12
PWMServo head;
PWMServo head_steer;
int leftscanval, centerscanval, rightscanval, ldiagonalscanval, rdiagonalscanval;
const int distancelimit = 30; //distance limit for obstacles in front
const int sidedistancelimit = 30; //minimum distance in cm to obstacles at both sides (the car will allow a shorter distance sideways)
int distance;
int numcycles = 0;
const int forwardtime = 600; //Time the robot spends turning (miliseconds)
const int turntime = 900; //Time the robot spends turning (miliseconds)
const int backtime = 900; //Time the robot spends turning (miliseconds)
#define LPT 2 // scan loop coumter
int thereis;
/*motor control*/
void go_Back(int speed) //Forward
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2,LOW);
analogWrite(ENA,speed);
}
void go_Advance(int speed) //Forward
{
digitalWrite(IN1, LOW);
digitalWrite(IN2,HIGH);
analogWrite(ENA,speed);
}
void turn(int angle)
{
head_steer.write(angle);
}
void stop_Stop() //Stop
{
digitalWrite(IN1, LOW);
digitalWrite(IN2,LOW);
analogWrite(ENA,0);
}
void setup() {
pinMode(ENA, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(Trig_PIN, OUTPUT);
pinMode(Echo_PIN,INPUT);
head_steer.attach(SERVO_STEER);
head.attach(SERVO_SENSOR);
head.write(90);
turn(FRONT);
stop_Stop();
delay(2000);
Serial.begin(9600);
}
void loop() {
auto_avoidance();
}
/*detection of ultrasonic distance*/
int watch(){
long echo_distance;
digitalWrite(Trig_PIN,LOW);
delayMicroseconds(5);
digitalWrite(Trig_PIN,HIGH);
delayMicroseconds(15);
digitalWrite(Trig_PIN,LOW);
echo_distance=pulseIn(Echo_PIN,HIGH);
echo_distance=echo_distance*0.01657; //how far away is the object in cm
//Serial.println((int)echo_distance);
return round(echo_distance);
}
//Meassures distances to the right, left, front, left diagonal, right diagonal and asign them in cm to the variables rightscanval,
//leftscanval, centerscanval, ldiagonalscanval and rdiagonalscanval (there are 5 points for distance testing)
String watchsurrounding(){
/* obstacle_status is a binary integer, its last 5 digits stands for if there is any obstacles in 5 directions,
* for example B101000 last 5 digits is 01000, which stands for Left front has obstacle, B100111 means front, right front and right ha
*/
int obstacle_status =B100000;
centerscanval = watch();
if(centerscanval<distancelimit){
stop_Stop();
obstacle_status =obstacle_status | B100;
}
head.write(SENSOR_LEFT);
delay(100);
ldiagonalscanval = watch();
if(ldiagonalscanval<distancelimit){
stop_Stop();
obstacle_status =obstacle_status | B1000;
}
head.write(SENSOR_FAR_LEFT); //Didn't use 180 degrees because my servo is not able to take this angle
delay(300);
leftscanval = watch();
if(leftscanval<sidedistancelimit){
stop_Stop();
obstacle_status =obstacle_status | B10000;
}
head.write(SENSOR_FRONT); //use 90 degrees if you are moving your servo through the whole 180 degrees
delay(100);
centerscanval = watch();
if(centerscanval<distancelimit){
stop_Stop();
obstacle_status =obstacle_status | B100;
}
head.write(SENSOR_RIGHT);
delay(100);
rdiagonalscanval = watch();
if(rdiagonalscanval<distancelimit){
stop_Stop();
obstacle_status =obstacle_status | B10;
}
head.write(SENSOR_FAR_RIGHT);
delay(100);
rightscanval = watch();
if(rightscanval<sidedistancelimit){
stop_Stop();
obstacle_status =obstacle_status | 1;
}
head.write(SENSOR_FRONT); //Finish looking around (look forward again)
delay(300);
String obstacle_str= String(obstacle_status,BIN);
obstacle_str= obstacle_str.substring(1,6);
return obstacle_str; //return 5-character string standing for 5 direction obstacle status
}
void auto_avoidance(){
++numcycles;
if(numcycles>=LPT){ //Watch if something is around every LPT loops while moving forward
stop_Stop();
String obstacle_sign=watchsurrounding(); // 5 digits of obstacle_sign binary value means the 5 direction obstacle status
Serial.print("begin str=");
Serial.println(obstacle_sign);
if( obstacle_sign=="00000"){
Serial.println("FORWARD");
turn(FRONT);
go_Advance(SPEED);
delay(forwardtime);
stop_Stop();
}
else if( obstacle_sign=="01000" || obstacle_sign=="11000" || obstacle_sign=="10000" ){
Serial.println("hand right");
turn(SHARP_RIGHT);
go_Advance(FAST_SPEED);
delay(turntime);
stop_Stop();
turn(FRONT);
}
else if( obstacle_sign=="00010" ||obstacle_sign=="00011" ||obstacle_sign=="00001" ){
Serial.println("hand left");
turn(SHARP_LEFT);
go_Advance(FAST_SPEED);
delay(turntime);
stop_Stop();
turn(FRONT);
}
else if( obstacle_sign=="00111" || obstacle_sign=="01111" || obstacle_sign=="10111" || obstacle_sign=="11111" || obstacle_sign=="00110" || obstacle_sign=="01010" || obstacle_sign=="00101" ){
Serial.println("hand back right");
turn(RIGHT);
go_Back(FAST_SPEED);
delay(backtime);
stop_Stop();
turn(FRONT);
}
else if(obstacle_sign=="00100" || obstacle_sign=="10100" || obstacle_sign=="01100" || obstacle_sign=="11100" || obstacle_sign=="11011" || obstacle_sign=="11101" || obstacle_sign=="11110" || obstacle_sign=="01110" ){
Serial.println("hand back left");
turn(LEFT);
go_Back(FAST_SPEED);
delay(backtime);
stop_Stop();
turn(FRONT);
}
else Serial.println("no handle");
numcycles=0; //Restart count of cycles
} else {
turn(FRONT);
go_Advance(SPEED);
delay(backtime);
stop_Stop();
}
//else Serial.println(numcycles);
distance = watch(); // use the watch() function to see if anything is ahead (when the robot is just moving forward and not looking around it will test the distance in front)
if (distance<distancelimit){ // The robot will just stop if it is completely sure there's an obstacle ahead (must test 25 times) (needed to ignore ultrasonic sensor's false signals)
Serial.println("final go back");
turn(SHARP_RIGHT);
go_Back(FAST_SPEED);
delay(backtime*3/2);
turn(FRONT);
++thereis;}
if (distance>distancelimit){
thereis=0;} //Count is restarted
if (thereis > 25){
Serial.println("final stop");
stop_Stop(); // Since something is ahead, stop moving.
thereis=0;
}
}
Of course, I'm using the code from Osoyoo's website which gives me what I have to know. If you look onto the website and search "Sports Car For Arduino", you can see some results like a guide/manual and lessons. So I tried to look for solutions but none ever worked. By the way, the lesson is called: "Lesson 4: Obstacle Avoidance".
Here are also some of the materials that are included in the Osoyoo Sport Car V1.0:
- Voltage Meter
- R3 with USB cable
- MG90S servo motor
- Ultrasonic Sensor
- Tracking sensor module
- Servo Motor
- HC Module
- Motor
Supposedly, after powering the car, the Ultrasonic sensor will move and finally stop in a direction for 2 seconds. During these first 2 seconds, you must make sure the Ultrasonic sensor (two eyes) is facing straight forward. If it is not straight forward, you should turn off the car immediately and remove the sensor from the servo, reinstall it, and make it face in straight forward direction as following picture. Otherwise, the obstacle avoidance program will not work properly. -Tried doing this and IT DID NOT WORK.
As a newcomer to Arduino & Robotics, I am seeking guidance on how to resolve this issue. Any suggestions or solutions would be greatly appreciated.
Thank you in advance for your help.
Best regards,
TheNewBeggining 