What Do I Build Next?
I think I'll convert one of my Raspberry Pi Tank vehicles to an Arduino based Robot using a Kookye Tank Electronics Kit or At least setup the kits' electronics 1st....The Instruction DVD should have a 10 Star Rating in itself.... Buy this electronics kit, (just for the DVD and training lessons) You'll learn alot!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!As in my Part x of 4 Projects, I purchased two Tank Vehicles from Banggood and had many Osoyoo and Kookye Robot Car/vehicles kits from Amazon, still unassembled "later What Do I Build Next? Projects", I originally planned to use a Raspberry Pi control scheme and adapt that schema to both Tanks using different model Raspberry Pi's ( a Raspberry Pi Zero-W v1.3 and a Raspberry Pi 3A+)
My assembly methods and mockups are my preference and constantly changing, so I am non-committal? Indecisive? or just a HACK!
These Available Guide(s) were consulted studied and expanded upon to build previous multi-track tanked vehicles:
http://osoyoo.com/2017/08/osoyoo-robot-car-diy-introduction/
http://osoyoo.com/2017/10/09/raspberry-pi-starter-kit-v1-introduction/
http://osoyoo.com/2017/04/arduinosmartcarlesson1/
http://osoyoo.com/2016/06/13/internet-of-thingsiot-starter-kit-on-raspberry-pi/
http://osoyoo.com/2017/05/wifi-control-smart-car/
http://osoyoo.com/2017/05/tracking-smart-car/
http://osoyoo.com/2017/05/arduino_car_obstacle_avoidance/
http://osoyoo.com/2017/04/control-smart-car-with-ir/
http://kookye.com/2018/07/19/rasberry-pi-tank-robot-car-starter-kit-lesson-1package-list/
http://kookye.com/2018/07/19/rasberry-pi-tank-robot-car-starter-kit-lesson-2raspberry-pi-3b-board/
http://kookye.com/2018/07/20/rasberry-pi-tank-car-starter-kit-lesson-3-web-video-camera/
http://kookye.com/2018/07/19/rasberry-pi-tank-robot-car-starter-kit-lesson-3line-follow/
1. Gather Hardware and Electronics
1 / 3 • My kit arrived crushed
1a. Layout the Electronic parts
1 / 3 • Electronics kit layout components
1b. Assemble Battery Pack and power distribution
1 / 4 • Gather Battery and Power Distribution Hardware
1c. Assemble the Ultrasonic Sensor and servo assembly
1 / 12 • HC SR04 and Servo hardware
1d. Layout and install electronic components on acrylic backing plate
1 / 9 • Locate proper holes for each electronic module and attach using included nuts and screws
1e. *****OOOppps, remove protective film from acrylic mounting plate 1st....
1 / 8 • I thought the acrylic was frosted plastic...
1f. ANOTHER OOOOpppps!!!!! Do not overtighten nuts...or was it the "lock-tight" that did it...
1 / 2 • Overnight...the acrylic mounting plate cracked everywhere... overtightened nuts or hole placement tension?
1g. Remount electronics to another backing plate
No...build another mounting plate
1g. Chassis Integration?
What will I do HERE???????????????????????
I do not have the DC Motors that connect to this L298N Motor controller board via the default connectors, but I'll MacGyver something....
2. Interconnect Control Electronic modules- Note ALL schematics were downloaded from DVD that was included with this kit, This DVD is configured as a training guide with instruments and code examples.... very GOOD documentation for a change.
1 / 21 • Connect Battery and Power Distribution cables
3. Coding and testing- Learning lessons
OSOYOO Robot Car Starter Kit Tutorial: Introductionhttp://osoyoo.com/2017/08/osoyoo-robot-car-diy-introduction/
OSOYOO Robot Car Starter Kit Lesson 1: Install UNO R3 Board and Motors on Chassishttp://osoyoo.com/2017/04/arduinosmartcarlesson1/
OSOYOO Smart Car Starter Kit Lesson 2: Control Robot Car through Infrared Remotehttp://osoyoo.com/2017/04/control-smart-car-with-ir/
OSOYOO Robot Car Starter Kit Lesson 3: Obstacle Avoidance Robot Carhttp://osoyoo.com/2017/05/arduino_car_obstacle_avoidance/
OSOYOO Robot Car Starter Kit Lesson 4: Tracking Robot Carhttp://osoyoo.com/2017/05/tracking-smart-car/
OSOYOO Robot Car Starter Kit Lesson 5: Control Robot Car through Wifi and Bluetoothhttp://osoyoo.com/2017/05/wifi-control-smart-car/
Just an FYI.... these are not my code examples. These were supplied on the enclosed DVD. I have not tested any of them, or have tested that they actually compiled on/with included hardware in this kit....but I will test.....
Have Fun!!!!!
#include <Servo.h>
#define SERVO_PIN 11 //servo connect to D11
Servo myservo;
void setup() {
myservo.attach(SERVO_PIN); //
myservo.write(90); //turn to middle posiztion
}
void loop() {
}
#include <Servo.h>
#include <IRremote.h>
#define IN1 8 //K1K2 motor direction
#define IN2 9 //K1K2 motor direction
#define IN3 10 //K3K4 motor direction
#define IN4 12 //K3K4 motor direction
#define ENA 5 // Needs to be a PWM pin to be able to control motor speed ENA
#define ENB 6 // Needs to be a PWM pin to be able to control motor speed ENB
#define LED1 2 //lefe led connect to D2
#define LED2 3 //right led connect to D3
#define IRPIN 13 //IR receiver Signal pin connect to Arduino pin 13
#define LFSensor_1 A0 //line follow sensor1
#define LFSensor_2 A1 //line follow sensor2
#define SERVO 11 //servo connect to D11
#define echo A3 // Ultrasonic Echo pin connect to A2
#define trig A2 // Ultrasonic Trig pin connect to A3
#define buzzer 7 //buzzer connect to D7
Servo head; // create servo object to control a servo
IRrecv IR(IRPIN); // IRrecv object IR get code from IR remoter
decode_results IRresults;
String inputString = "";//Store serial data
boolean stringComplete = false; // whether the string is complete
int pos = 0;
void setup() {
/******LED******/
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);
digitalWrite(LED1,HIGH);
digitalWrite(LED2,HIGH);
/*line follow sensors */
pinMode(LFSensor_1,INPUT);
pinMode(LFSensor_2,INPUT);
/*servo*/
head.attach(SERVO);
head.write(90);
/*init HC-SR04*/
pinMode(trig, OUTPUT);
pinMode(echo, INPUT);
digitalWrite(trig, LOW);
/*buzzer*/
pinMode(buzzer, OUTPUT);
digitalWrite(buzzer, HIGH);//close buzzer
/*IR sensor*/
pinMode(IRPIN, INPUT);
digitalWrite(IRPIN, HIGH);
IR.enableIRIn();
/******L298N******/
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
Serial.begin(9600);
Serial.println("welcome to use tank robot car...");
Serial.println("send <line follow/>:test line follow sensor");
Serial.println("send <led on/>:turn on LED ");
Serial.println("send <led off/>:turn off LED ");
Serial.println("send <servo/>: test servo");
Serial.println("send <distance/>: test HC-SR04");
Serial.println("send <buzzer/>: test buzzer");
Serial.println("send <go/>: test robot go ahead");
Serial.println("send <back/>: test robot go back");
Serial.println("send <stop/>: test robot stop");
Serial.println("--------------------------------------------------->>");
}
/*receive serial data*/
void read_serial()
{
if (Serial.available()>0) {
// get the new byte:
char inChar = (char)Serial.read();
// add it to the inputString:
inputString += inChar;
// if the incoming character is a newline, set a flag
// so the main loop can do something about it:
if (inChar == '/') {
stringComplete = true;
}
}
}
void loop() {
read_serial();
if(stringComplete){
if(inputString =="line follow/") read_sensor_values();
else if(inputString =="led on/") led_on();
else if(inputString =="led off/") led_off();
else if(inputString =="servo/") test_servo();
else if(inputString == "distance/") test_hc_sr04();
else if(inputString == "buzzer/") test_buzzer();
else if(inputString == "go/") go_ahead();
else if(inputString == "back/") go_back();
else if(inputString == "stop/") go_stop();
inputString = "";
stringComplete = false;
}
test_ir();//test IR receiver
}
/*read line folloe sensors*/
void read_sensor_values()
{
char sensor[2];
sensor[0]=digitalRead(LFSensor_1);
sensor[1]=digitalRead(LFSensor_2);
if(sensor[0]==1 && sensor[1]== 0)
Serial.println("left sensor is on the black line,right sensor is not on the black line");
if(sensor[0]==0 && sensor[1]== 1)
Serial.println("left sensor is not on the black line,right sensor is on the black line");
if(sensor[0]==1 && sensor[1]== 1)
Serial.println("all sensons are on the black line");
if(sensor[0]==0 && sensor[1]== 0)
Serial.println("all sensons are not on the black line");
}
/*test led*/
void led_on()
{
//turn on led
digitalWrite(LED1,LOW);
digitalWrite(LED2,LOW);
Serial.println("turn on led");
}
void led_off()
{
digitalWrite(LED1,HIGH);
digitalWrite(LED2,HIGH);
Serial.println("turn off led");
}
/*tets servo*/
void test_servo()
{
Serial.println("servo is ok!");
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
head.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
head.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
head.write(90);//go to centre position
}
/*tets HC-SR04*/
void test_hc_sr04()
{
long howfar;
digitalWrite(trig, LOW);
delayMicroseconds(5);
digitalWrite(trig, HIGH);
delayMicroseconds(15);
digitalWrite(trig, LOW);
howfar = pulseIn(echo, HIGH);
howfar = howfar * 0.01657; //how far away is the object in cm
Serial.print("distance:");
Serial.print(howfar);
Serial.println(" cm");
}
/*tets buzzer*/
void test_buzzer()
{
digitalWrite(buzzer, LOW);//turn on buzzer
delay(300);
digitalWrite(buzzer, HIGH);//turn off buzzer
Serial.println("buzzer is ok!");
}
/*robot go ahead*/
void go_ahead()
{
//set motor spped
analogWrite(ENA,255);
analogWrite(ENB,255);
//motor go ahead
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
}
/*robot go back*/
void go_back()
{
//set motor spped
analogWrite(ENA,255);
analogWrite(ENB,255);
//motor go back
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
}
/*robot stop*/
void go_stop()
{
//change the speed to 0 to stop the motor
analogWrite(ENA,0);
analogWrite(ENB,0);
}
/*test IR receiver*/
void test_ir()
{
if(IR.decode(&IRresults))
{
Serial.println(IRresults.value, HEX);
IR.resume();
}
}
//Define L298N Dual H-Bridge Motor Controller Pins
#define IN1 8 //K1K2 motor direction
#define IN2 9 //K1K2 motor direction
#define IN3 10 //K3K4 motor direction
#define IN4 12 //K3K4 motor direction
#define ENA 5 //needs to be a PWM pin to be able to control motor speed ENA
#define ENB 6 //needs to be a PWM pin to be able to control motor speed ENB
/*motor control*/
void go_ahead() //motor rotate clockwise -->robot go ahead
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4,HIGH);
}
void go_back() //motor rotate counterclockwise -->robot go back
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4,LOW);
}
void go_stop() //motor brake -->robot stop
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4,LOW);
}
void turn_left() //left motor rotate counterclockwise and right motor rotate clockwise -->robot turn left
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
void turn_right() //left motor rotate clockwise and right motor rotate counterclockwise -->robot turn right
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
/*set motor speed */
void set_motorspeed(int lspeed,int rspeed) //change motor speed
{
analogWrite(ENA,lspeed);//lspeed:0-255
analogWrite(ENB,rspeed);//rspeed:0-255
}
void setup() {
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
set_motorspeed(255,255);//maximum speed
go_ahead(),delay(5000),go_stop();//robot forward 5s
go_back(),delay(5000),go_stop();//robot go back 5s
turn_left(),delay(5000),go_stop();//robot turn left 5s
turn_right(),delay(5000),go_stop();//robot turn right 5s
go_stop();//stop
}
void loop() {
}
#include <IRremote.h>
#include <Servo.h>
/******************Define L298N Dual H-Bridge Motor Controller Pins******************/
#define IN1 8 //K1K2 motor direction
#define IN2 9 //K1K2 motor direction
#define IN3 10 //K3K4 motor direction
#define IN4 12 //K3K4 motor direction
#define ENA 5 // Needs to be a PWM pin to be able to control motor speed ENA
#define ENB 6 // Needs to be a PWM pin to be able to control motor speed ENB
#define SERVO 11 //servo(SG90) connect to D11
#define LED1 2 //lefe led connect to D2
#define LED2 3 //right led connect to D3
#define IRPIN 13 //IR receiver Signal pin connect to Arduino pin 13
#define BUZZER 7 //buzzer connect D7
#define IR_ADVANCE 0x00FF18E7 //code from IR controller "" button
#define IR_BACK 0x00FF4AB5 //code from IR controller "" button
#define IR_RIGHT 0x00FF5AA5 //code from IR controller ">" button
#define IR_LEFT 0x00FF10EF //code from IR controller "<" button
#define IR_SERVO 0x00FF38C7 //code from IR controller "OK" button
#define IR_OPENLED 0x00FFB04F //code from IR controller "#" button
#define IR_CLOSELED 0x00FF6897 //code from IR controller "*" button
#define IR_BEEP 0x00FF9867 //code from IR controller "0" button
enum DN
{
GO_ADVANCE, //go ahead
GO_LEFT, //left turn
GO_RIGHT,//right turn
GO_BACK,//go back
MOVE_SERVO,//move servo
OPEN_LED,//open led
CLOSE_LED,//close led
BEEP,//control buzzer
DEF
}Drive_Num=DEF;
Servo head;
IRrecv IR(IRPIN); // IRrecv object IR get code from IR remoter
decode_results IRresults;
bool stopFlag = true;//set stop flag
bool JogFlag = false;
uint16_t JogTimeCnt = 0;
uint32_t JogTime=0;
/*motor control*/
void go_ahead(int t)//go ahead
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4,HIGH);
delay(t);
}
void go_back(int t) //go back
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4,LOW);
delay(t);
}
void go_stop() //stop
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4,LOW);
}
void turn_left(int t)//turn left
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
delay(t);
}
void turn_right(int t)//turn right
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
delay(t);
}
/*set motor speed */
void set_motorspeed(int lspeed,int rspeed)
{
analogWrite(ENA,lspeed);
analogWrite(ENB,rspeed);
}
/*******control led*******/
void open_led(int led_num)
{
if (led_num == 1) digitalWrite(LED1,LOW);
else digitalWrite(LED2,LOW);
}
void close_led(int led_num)
{
if (led_num == 1) digitalWrite(LED1,HIGH);
else digitalWrite(LED2,HIGH);
}
/*******control buzzer*******/
void control_beep()
{
digitalWrite(BUZZER,LOW),delay(100);
digitalWrite(BUZZER,HIGH),delay(100);
}
/***move servo***/
void move_servo()
{
int i;
for(i = 0;i<180;i++){
head.write(i);
delay(5);
}
for(i = 180;i>=0;i--){
head.write(i);
delay(5);
}
head.write(90);
}
/**************detect IR code***************/
void do_IR_Tick()
{
if(IR.decode(&IRresults))
{
if(IRresults.value==IR_ADVANCE)
{
Drive_Num=GO_ADVANCE;
}
else if(IRresults.value==IR_RIGHT)
{
Drive_Num=GO_RIGHT;
}
else if(IRresults.value==IR_LEFT)
{
Drive_Num=GO_LEFT;
}
else if(IRresults.value==IR_BACK)
{
Drive_Num=GO_BACK;
}
else if(IRresults.value==IR_SERVO)
{
Drive_Num=MOVE_SERVO;
}
else if(IRresults.value==IR_OPENLED)
{
Drive_Num=OPEN_LED;
}
else if(IRresults.value==IR_CLOSELED)
{
Drive_Num=CLOSE_LED;
}
else if(IRresults.value==IR_BEEP)
{
Drive_Num=BEEP;
}
IRresults.value = 0;
IR.resume();
}
}
/**************car control**************/
void do_Drive_Tick()
{
switch (Drive_Num)
{
case GO_ADVANCE:
go_ahead(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_ADVANCE code is detected, then go advance
case GO_LEFT:
turn_left(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_LEFT code is detected, then turn left
case GO_RIGHT:
turn_right(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_RIGHT code is detected, then turn right
case GO_BACK:
go_back(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_BACK code is detected, then backward
case MOVE_SERVO:
move_servo();JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//move servo
case OPEN_LED:
open_led(1),open_led(2);JogTime = 0;break;//open led
case CLOSE_LED:
close_led(1),close_led(2);JogTime = 0;break;//close led
case BEEP:
control_beep();JogTime = 0;break;//control beep
default:break;
}
Drive_Num=DEF;
//keep current moving mode for 200 millis seconds
if(millis()-JogTime>=200)
{
JogTime=millis();
if(JogFlag == true)
{
stopFlag = false;
if(JogTimeCnt <= 0)
{
JogFlag = false; stopFlag = true;
}
JogTimeCnt--;
}
if(stopFlag == true)
{
JogTimeCnt=0;
go_stop();
}
}
}
void setup() {
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);
pinMode(BUZZER, OUTPUT);
head.attach(SERVO);
close_led(1),close_led(2);//close led
digitalWrite(BUZZER,HIGH);//close buzzer
pinMode(IRPIN, INPUT);
digitalWrite(IRPIN, HIGH);
IR.enableIRIn();
set_motorspeed(160,160);
go_stop();
}
void loop() {
do_IR_Tick();
do_Drive_Tick();
}
#include <IRremote.h>
//Define L298N Dual H-Bridge Motor Controller Pins
#define IN1 8 //K1K2 motor direction
#define IN2 9 //K1K2 motor direction
#define IN3 10 //K3K4 motor direction
#define IN4 12 //K3K4 motor direction
#define ENA 5 // Needs to be a PWM pin to be able to control motor speed ENA
#define ENB 6 // Needs to be a PWM pin to be able to control motor speed ENB
#define LED1 2 //lefe led connect to D2
#define LED2 3 //right led connect to D3
#define IRPIN 13 //IR receiver Signal pin connect to Arduino pin 13
#define LFSensor_1 A0 //line follow sensor1
#define LFSensor_2 A1 //line follow sensor2
#define IR_LINEFOLLOW 0x00FF38C7 //code from IR controller "OK" button
#define IR_STOP 0x00FF9867 //code from IR controller "0" button
enum DN
{
START_LINEFOLLOW,//start line follow
STOP_LINEFOLLOW,//stop line follow
DEF
}Drive_Num=DEF;
IRrecv IR(IRPIN); // IRrecv object IR get code from IR remoter
decode_results IRresults;
#define M_SPEED1 200 //motor speed
#define M_SPEED2 255 //motor speed
char sensor[2]={0,0};
/*motor control*/
void go_ahead()//go ahead
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4,HIGH);
//delay(t);
}
void go_back() //go back
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4,LOW);
//delay(t);
}
void go_stop() //stop
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4,LOW);
}
void turn_left(int t)//turn left
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
delay(t);
}
void turn_right(int t)//turn right
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
delay(t);
}
/*set motor speed */
void set_motorspeed(int lspeed,int rspeed)
{
analogWrite(ENA,lspeed);
analogWrite(ENB,rspeed);
}
/*read line folloe sensors*/
void read_sensor_values()
{
sensor[0]=digitalRead(LFSensor_1);
sensor[1]=digitalRead(LFSensor_2);
}
/*******control led*******/
void open_led(int led_num)
{
if (led_num == 1) digitalWrite(LED1,LOW);
else digitalWrite(LED2,LOW);
}
void close_led(char led_num)
{
if (led_num == 1) digitalWrite(LED1,HIGH);
else digitalWrite(LED2,HIGH);
}
/**************detect IR code***************/
void do_IR_Tick()
{
if(IR.decode(&IRresults))
{
if(IRresults.value==IR_LINEFOLLOW)
{
Drive_Num=START_LINEFOLLOW;
}
else if(IRresults.value==IR_STOP)
{
Drive_Num=STOP_LINEFOLLOW;
}
IRresults.value = 0;
IR.resume();
}
}
void auto_tarcking(){
read_sensor_values();
if((sensor[0]==LOW)&&(sensor[1]==HIGH)){ //The right sensor is on the black line.The left sensor is on the white line
set_motorspeed(M_SPEED1,M_SPEED1);
turn_right(250);
}
else if((sensor[0]==HIGH)&&(sensor[1]==LOW)){//The right sensor is on the white line.The left sensor is on the black line
set_motorspeed(M_SPEED1,M_SPEED1);
turn_left(250);
}
else if((sensor[0]==LOW)&&(sensor[1]==LOW)){//The left an right sensor are on the white line.
set_motorspeed(M_SPEED2,M_SPEED2);
go_ahead();
}
else if((sensor[0]==HIGH)&&(sensor[1]==HIGH)){//The left an right sensor are on the black line.
go_stop();
}
}
void setup() {
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);
/*line follow sensors */
pinMode(LFSensor_1,INPUT);
pinMode(LFSensor_2,INPUT);
close_led(1),close_led(2);//close led
pinMode(IRPIN, INPUT);
digitalWrite(IRPIN, HIGH);
IR.enableIRIn();
go_stop();
}
void loop() {
do_IR_Tick();
if(Drive_Num == START_LINEFOLLOW)
auto_tarcking();
else if(Drive_Num == STOP_LINEFOLLOW)
go_stop();
}
#include <Servo.h>
#include <IRremote.h>
#define IN1 8 //K1K2 motor direction
#define IN2 9 //K1K2 motor direction
#define IN3 10 //K3K4 motor direction
#define IN4 12 //K3K4 motor direction
#define ENA 5 // Needs to be a PWM pin to be able to control motor speed ENA
#define ENB 6 // Needs to be a PWM pin to be able to control motor speed ENB
#define LED1 2 //lefe led connect to D2
#define LED2 3 //right led connect to D3
#define SERVO 11 //servo connect to D11
#define IRPIN 13 //IR receiver Signal pin connect to Arduino pin 13
#define echo A3 // Ultrasonic Echo pin connect to A2
#define trig A2 // Ultrasonic Trig pin connect to A3
#define buzzer 7 //buzzer connect to D7
#define RSPEED 255 //right motor speed
#define LSPEED 255 //left motor speed
#define IR_AVOIDANCE 0x00FF38C7 //code from IR controller "OK" button
#define IR_STOP 0x00FF9867 //code from IR controller "0" button
enum DN
{
START_AVOIDANCE,//start avoidance
STOP_AVOIDANCE,//stop avoidance
DEF
}Drive_Num=DEF;
int leftscanval, centerscanval, rightscanval, ldiagonalscanval, rdiagonalscanval;
const int distancelimit = 30; //distance limit for obstacles in front
const int sidedistancelimit = 18; //minimum distance in cm to obstacles at both sides (the car will allow a shorter distance sideways)
Servo head;
IRrecv IR(IRPIN); // IRrecv object IR get code from IR remoter
decode_results IRresults;
/*motor control*/
void go_ahead()//go ahead
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4,HIGH);
//delay(t);
}
void go_back() //go back
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4,LOW);
//delay(t);
}
void go_stop() //stop
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4,LOW);
}
void turn_left()//turn left
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
//delay(t);
}
void turn_right()//turn right
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
//delay(t);
}
/*set motor speed */
void set_motorspeed(int lspeed,int rspeed)
{
analogWrite(ENA,lspeed);
analogWrite(ENB,rspeed);
}
void buzz_on() //open buzzer
{
digitalWrite(buzzer, LOW);
}
void buzz_off() //close buzzer
{
digitalWrite(buzzer, HIGH);
}
void alarm() {
buzz_on();
delay(100);
buzz_off();
}
/*******control led*******/
void open_led(int led_num)
{
if (led_num == 1) digitalWrite(LED1,LOW);
else digitalWrite(LED2,LOW);
}
void close_led(char led_num)
{
if (led_num == 1) digitalWrite(LED1,HIGH);
else digitalWrite(LED2,HIGH);
}
/*detection of ultrasonic distance*/
int watch() {
long howfar;
digitalWrite(trig, LOW);
delayMicroseconds(5);
digitalWrite(trig, HIGH);
delayMicroseconds(15);
digitalWrite(trig, LOW);
howfar = pulseIn(echo, HIGH);
howfar = howfar * 0.01657; //how far away is the object in cm
Serial.println((int)howfar);
return round(howfar);
}
/**************detect IR code***************/
void do_IR_Tick()
{
if(IR.decode(&IRresults))
{
if(IRresults.value==IR_AVOIDANCE)
{
Drive_Num=START_AVOIDANCE;
}
else if(IRresults.value==IR_STOP)
{
Drive_Num=STOP_AVOIDANCE;
}
IRresults.value = 0;
IR.resume();
}
}
void auto_avoidance() {
head.write(90);
delay(100);
centerscanval = watch();
if (centerscanval >= distancelimit) {
set_motorspeed(LSPEED, RSPEED);
go_ahead();
}
else {
go_stop();
alarm();
head.write(120);
delay(150);
ldiagonalscanval = watch();
head.write(180);
delay(150);
leftscanval = watch();
head.write(90);
delay(150);
head.write(60);
delay(150);
rdiagonalscanval = watch();
head.write(0);
delay(150);
rightscanval = watch();
head.write(90);
if (ldiagonalscanval >= sidedistancelimit && leftscanval >= sidedistancelimit) {
set_motorspeed(LSPEED, RSPEED);
go_back();
delay(200);
turn_left();
delay(600);
}
else if (rdiagonalscanval >= sidedistancelimit && rightscanval >= sidedistancelimit) {
set_motorspeed(LSPEED, RSPEED);
go_back();
delay(200);
turn_right();
delay(600);
}
}
}
void setup() {
/****L298N****/
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
/****LED****/
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);
close_led(1),close_led(2);//close led
/*init HC-SR04*/
pinMode(trig, OUTPUT);
pinMode(echo, INPUT);
digitalWrite(trig, LOW);
/*init buzzer*/
pinMode(buzzer, OUTPUT);
digitalWrite(buzzer, HIGH);
buzz_off();
/*init servo*/
head.attach(SERVO);
head.write(90);
pinMode(IRPIN, INPUT);
digitalWrite(IRPIN, HIGH);
IR.enableIRIn();
/*baud rate*/
Serial.begin(9600);
go_stop();
}
void loop() {
do_IR_Tick();
if(Drive_Num == START_AVOIDANCE)//remote controller press "OK",robot will avoid obstacles
auto_avoidance();
else if(Drive_Num == STOP_AVOIDANCE)//remote controller press "0",robot will stop move
go_stop();
}
#include <Servo.h>
#include "config.h"
Servo head;
void setup() {
/******L298N******/
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
/******LED******/
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);
close_led(1),close_led(2);//close led
/*line follow sensors */
pinMode(LFSensor_1,INPUT);
pinMode(LFSensor_2,INPUT);
/*init HC-SR04*/
pinMode(trig, OUTPUT);
pinMode(echo, INPUT);
digitalWrite(trig, LOW);
/*init buzzer*/
pinMode(buzzer, OUTPUT);
digitalWrite(buzzer, HIGH);
buzz_off();
/*init servo*/
head.attach(SERVO);
head.write(90);
Serial.begin(9600);
go_stop();
}
//WiFi / Bluetooth through the serial control
void do_Uart_Tick()
{
char Uart_Date=0;
if(Serial.available())
{
size_t len = Serial.available();
uint8_t sbuf[len + 1];
sbuf[len] = 0x00;
Serial.readBytes(sbuf, len);
//parseUartPackage((char*)sbuf);
memcpy(buffUART + buffUARTIndex, sbuf, len);//ensure that the serial port can read the entire frame of data
buffUARTIndex += len;
preUARTTick = millis();
if(buffUARTIndex >= MAX_PACKETSIZE - 1)
{
buffUARTIndex = MAX_PACKETSIZE - 2;
preUARTTick = preUARTTick - 200;
}
}
if(buffUARTIndex > 0 && (millis() - preUARTTick >= 100))//APP send flag to modify the obstacle avoidance parameters
{ //data ready
buffUART[buffUARTIndex] = 0x00;
if(buffUART[0]=='C')
{
Serial.println(buffUART);
Serial.println("You have modified the parameters!");//indicates that the obstacle avoidance distance parameter has been modified
sscanf(buffUART,"CMD%d,%d,%d",&distancelimit,&sidedistancelimit,&turntime);
// Serial.println(distancelimit);
// Serial.println(sidedistancelimit);
// Serial.println(turntime);
}
else Uart_Date=buffUART[0];
buffUARTIndex = 0;
}
/*
if(Serial.available()>0)
{
char temp[32];
memset(temp,0x00,32);
size_t len=Serial.available();
if(len<32) Serial.readBytes(temp,len);
if(temp[0]=='C') {
Serial.println(temp);
Serial.println("You have modified the parameters!");
sscanf(temp,"CMD%d,%d,%d",&distancelimit,&sidedistancelimit,&turntime);
}
else if(len<=1&&temp!=NULL) Uart_Date=temp[0];
*/
switch (Uart_Date) //serial control instructions
{
case '2':
Drive_Status=MANUAL_DRIVE; Drive_Num=GO_ADVANCE;Serial.println("forward"); break;
case '4':
Drive_Status=MANUAL_DRIVE; Drive_Num=GO_LEFT; Serial.println("turn left");break;
case '6':
Drive_Status=MANUAL_DRIVE; Drive_Num=GO_RIGHT; Serial.println("turn right");break;
case '8':
Drive_Status=MANUAL_DRIVE; Drive_Num=GO_BACK; Serial.println("go back");break;
case '5':
Drive_Status=MANUAL_DRIVE; Drive_Num=STOP_STOP;buzz_off();Serial.println("stop");break;
case '3':
Drive_Status=AUTO_DRIVE_UO; Serial.println("avoid obstacles...");break;
case '1':
Drive_Status=AUTO_DRIVE_LF; Serial.println("line follow...");break;
default:break;
}
}
//robot motor control
void do_Drive_Tick()
{
if(Drive_Status == MANUAL_DRIVE)
{
switch (Drive_Num)
{
case GO_ADVANCE:
set_motorspeed(255,255);
go_ahead(300);
JogFlag = true;
JogTimeCnt = 1;
JogTime=millis();
break;
case GO_LEFT:
set_motorspeed(255,255);
turn_left(100);
JogFlag = true;
JogTimeCnt = 1;
JogTime=millis();
break;
case GO_RIGHT:
set_motorspeed(255,255);
turn_right(100);
JogFlag = true;
JogTimeCnt = 1;
JogTime=millis();
break;
case GO_BACK:
set_motorspeed(255,255);
go_back(300);
JogFlag = true;
JogTimeCnt = 1;
JogTime=millis();
break;
case STOP_STOP:
go_stop();
JogTime = 0;
break;
default:
break;
}
Drive_Num=DEF;
//keep the car running for 200ms
if(millis()-JogTime>=200)
{
JogTime=millis();
if(JogFlag == true)
{
stopFlag = false;
if(JogTimeCnt <= 0)
{
JogFlag = false; stopFlag = true;
}
JogTimeCnt--;
}
if(stopFlag == true)
{
JogTimeCnt=0;
go_stop();
}
}
}
else if(Drive_Status==AUTO_DRIVE_LF)
{
auto_tarcking();
}
else if(Drive_Status==AUTO_DRIVE_UO)
{
auto_avoidance();
}
}
void loop() {
do_Uart_Tick();
do_Drive_Tick();
}
#define IN1 8 //K1K2 motor direction
#define IN2 9 //K1K2 motor direction
#define IN3 10 //K3K4 motor direction
#define IN4 12 //K3K4 motor direction
#define ENA 5 // Needs to be a PWM pin to be able to control motor speed ENA
#define ENB 6 // Needs to be a PWM pin to be able to control motor speed ENB
#define LED1 2 //lefe led connect to D2
#define LED2 3 //right led connect to D3
//#define IRPIN 13 //IR receiver Signal pin connect to Arduino pin 13
#define LFSensor_1 A0 //line follow sensor1
#define LFSensor_2 A1 //line follow sensor2
#define SERVO 11 //servo connect to D11
#define echo A3 // Ultrasonic Echo pin connect to A2
#define trig A2 // Ultrasonic Trig pin connect to A3
#define buzzer 7 //buzzer connect to D7
char sensor[2]={0,0};
#define MAX_PACKETSIZE 32 //Serial receive buffer
char buffUART[MAX_PACKETSIZE];
unsigned int buffUARTIndex = 0;
unsigned long preUARTTick = 0;
int leftscanval, centerscanval, rightscanval, ldiagonalscanval, rdiagonalscanval;
const int distancelimit = 30; //distance limit for obstacles in front
const int sidedistancelimit = 18; //minimum distance in cm to obstacles at both sides (the car will allow a shorter distance sideways)
const int turntime = 700; //Time the robot spends turning (miliseconds)
bool stopFlag = true;
bool JogFlag = false;
uint16_t JogTimeCnt = 0;
uint32_t JogTime=0;
enum DS
{
MANUAL_DRIVE,
AUTO_DRIVE_LF, //line follow
AUTO_DRIVE_UO //ultrasonic obstruction
}Drive_Status=MANUAL_DRIVE;
enum DN
{
GO_ADVANCE,
GO_LEFT,
GO_RIGHT,
GO_BACK,
STOP_STOP,
DEF
}Drive_Num=DEF;
/*motor control*/
void go_ahead(int t)//go ahead
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4,HIGH);
delay(t);
}
void go_back(int t) //go back
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4,LOW);
delay(t);
}
void go_stop() //stop
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4,LOW);
}
void turn_left(int t)//turn left
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
delay(t);
}
void turn_right(int t)//turn right
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
delay(t);
}
/*set motor speed */
void set_motorspeed(int lspeed,int rspeed)
{
analogWrite(ENA,lspeed);
analogWrite(ENB,rspeed);
}
void buzz_on() //open buzzer
{
digitalWrite(buzzer, LOW);
}
void buzz_off() //close buzzer
{
digitalWrite(buzzer, HIGH);
}
void alarm() {
buzz_on();
delay(100);
buzz_off();
}
/*******control led*******/
void open_led(int led_num)
{
if (led_num == 1) digitalWrite(LED1,LOW);
else digitalWrite(LED2,LOW);
}
void close_led(char led_num)
{
if (led_num == 1) digitalWrite(LED1,HIGH);
else digitalWrite(LED2,HIGH);
}
/******detection of ultrasonic distance******/
int watch() {
long howfar;
digitalWrite(trig, LOW);
delayMicroseconds(5);
digitalWrite(trig, HIGH);
delayMicroseconds(15);
digitalWrite(trig, LOW);
howfar = pulseIn(echo, HIGH);
howfar = howfar * 0.01657; //how far away is the object in cm
Serial.println((int)howfar);
return round(howfar);
}
/******auto avoid obstacles******/
void auto_avoidance() {
head.write(90);
delay(100);
centerscanval = watch();
if (centerscanval >= distancelimit) {
set_motorspeed(255, 255);
go_ahead(0);
}
else {
go_stop();
alarm();
head.write(120);
delay(150);
ldiagonalscanval = watch();
head.write(180);
delay(150);
leftscanval = watch();
head.write(90);
delay(150);
head.write(60);
delay(150);
rdiagonalscanval = watch();
head.write(0);
delay(150);
rightscanval = watch();
head.write(90);
if (ldiagonalscanval >= sidedistancelimit && leftscanval >= sidedistancelimit) {
set_motorspeed(255, 255);
go_back(200);
turn_left(600);
}
else if (rdiagonalscanval >= sidedistancelimit && rightscanval >= sidedistancelimit) {
set_motorspeed(255, 255);
go_back(200);
turn_right(600);
}
}
}
/*read line folloe sensors*/
void read_sensor_values()
{
sensor[0]=digitalRead(LFSensor_1);
sensor[1]=digitalRead(LFSensor_2);
}
/*********auto line follow*********/
void auto_tarcking(){
read_sensor_values();
if((sensor[0]==LOW)&&(sensor[1]==HIGH)){ //The right sensor is on the black line.The left sensor is on the white line
set_motorspeed(200,200);
turn_right(250);
}
else if((sensor[0]==HIGH)&&(sensor[1]==LOW)){//The right sensor is on the white line.The left sensor is on the black line
set_motorspeed(200,200);
turn_left(250);
}
else if((sensor[0]==LOW)&&(sensor[1]==LOW)){//The left an right sensor are on the white line.
set_motorspeed(255,255);
go_ahead(0);
}
else if((sensor[0]==HIGH)&&(sensor[1]==HIGH)){//The left an right sensor are on the black line.
go_stop();
}
}
#include <PinChangeInt.h> //
#include <MsTimer2.h> //
#include <DATASCOPE.h> //PC
//The sample code for driving one way motor encoder
const byte encoder0pinA = 2;//A pin -> the interrupt pin 0
const byte encoder0pinB = 4;//B pin -> the digital pin 4
const byte rencodPinA = 3; //rencodPinA -> the interrupt pin 1
const byte rencodPinB = 7; //rencodPinB -> the digital pin 11
#define IN1 8 //left motor direction
#define IN2 9 //left motor direction
#define IN3 10 //right motor direction
#define IN4 12 //right motor direction
#define ENA 5 // Needs to be a PWM pin to be able to control motor speed ENA
#define ENB 6 // Needs to be a PWM pin to be able to control motor speed ENB
#define motorspeed 200
const float Kp =20;
const float Ki =1;
byte encoder0PinALast,encoder0PinALast1;
int duration,duration1;//the number of the pulses
boolean l_direction,r_direction;//the rotation direction
int master_pulse,slave_pulse;
int pwm;
static int i;
unsigned char Send_Count;
DATASCOPE data;// data
void DataScope(void)
{
int i;
data.DataScope_Get_Channel_Data(-1*master_pulse-slave_pulse, 1);// 40ms
data.DataScope_Get_Channel_Data(0, 2);// 40ms
data.DataScope_Get_Channel_Data(pwm, 3);// 40ms
data.DataScope_Get_Channel_Data(slave_pulse, 4);// 40ms
Send_Count = data.DataScope_Data_Generate(4);
for ( i = 0 ; i < Send_Count; i++)
{
Serial.write(DataScope_OutPut_Buffer[i]);
}
delay(50); //
}
void go_ahead()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4,HIGH);
}
void go_back()
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4,LOW);
}
void go_stop()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4,LOW);
}
void setup()
{
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENB, OUTPUT);
Serial.begin(128000);//Initialize the serial port
/*encoder init*/
l_direction = true;//default -> Forward
r_direction = true;
pinMode(encoder0pinB,INPUT);
pinMode(rencodPinB,INPUT);
attachInterrupt(0, lwheelSpeed, CHANGE);
attachInterrupt(1, rwheelSpeed, CHANGE);
delay(1500); //
MsTimer2::set(10, control); //Timer210ms
MsTimer2::start(); //
analogWrite(ENA,motorspeed),analogWrite(ENB,motorspeed);
}
int PID_controller(int master,int slave)
{
static float power,error,integralerror,lasterror;
if(master < 0) master = -master;
if(slave < 0) slave = -slave;
error = master - slave;
integralerror += error;
power += Kp *(error-lasterror) + Ki * error;
lasterror = error;
return power;
}
void control()
{
sei();//enable global interrupts
if(++i >=4)//20ms
{
master_pulse = duration ,duration = 0;
slave_pulse = duration1, duration1 = 0;
pwm = PID_controller(master_pulse,slave_pulse);
i = 0;
}
int newpower1 = motorspeed+pwm;
constrain(newpower1,0,255);
analogWrite(ENB,newpower1),analogWrite(ENA,motorspeed);
cli();//disenable global interrupts
}
void loop()
{
go_ahead();
Serial.begin(128000), DataScope(); //128000
}
void lwheelSpeed()
{
int Lstate = digitalRead(encoder0pinA);
if((encoder0PinALast == LOW) && Lstate==HIGH)
{
int val = digitalRead(encoder0pinB);
if(val == LOW && l_direction)
{
l_direction = false; //Reverse
}
else if(val == HIGH && !l_direction)
{
l_direction = true; //Forward
}
}
encoder0PinALast = Lstate;
if(!l_direction) duration++;
else duration--;
}
void rwheelSpeed()
{
int Lstate = digitalRead(rencodPinA);
if((encoder0PinALast1 == LOW) && Lstate==HIGH)
{
int val = digitalRead(rencodPinB);
if(val == LOW && r_direction)
{
r_direction = false; //Reverse
}
else if(val == HIGH && !r_direction)
{
r_direction = true; //Forward
}
}
encoder0PinALast1 = Lstate;
if(!r_direction) duration1++;
else duration1--;
}
James Martel
48 projects • 62 followers
Self taught Robotics platform developer with electronics background
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