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--- pm:prj2021:abasoc:dariuscell [2021/06/03 03:14]
radu.nichita [Rezultate Obținute]
+++ pm:prj2021:abasoc:dariuscell [2021/06/03 16:54] (current)
radu.nichita [Software Design]
@@ Line 78: / Line 78: @@
       * s = mișcare înapoi, urmată de oprire
       * q = oprirea robotului
     * De ce toate operațiile în afară de w necesită oprire? Pentru că partea frontală a robotului are montat un senzor ultrasonic, capabil să detecteze obstacolele din față. El se va opri automat când va ajunge la o distanță apropiată de acestea, fără a se ciocni de ele.
+<spoiler Cod Arduino>
+<code cpp>
+#include <SoftwareSerial.h>
+#define DELTA_SPEED 10 // increase / decrease in speed;
+#define MIN_SPEED_ALLOWED 120
+#define BALANCE_DIFFERENCE 17
+#define SPEED 127
+#define SPEED_TURNING 100
+#define UP_DIRECTION 'w'
+#define DOWN_DIRECTION 's'
+#define STOP_DIRECTION 'q'
+#define LEFT_DIRECTION 'a'
+#define RIGHT_DIRECTION 'd'
+int In3 = 8; // left wheel - int3
+int In4 = 9; // left wheel - int4
+int In2 = 12; // right wheel - int2
+int In1 = 13; // right wheel - int1
+int ENA = 5; // left wheel
+int ENB = 6; // right wheel
+int robot_speed = 0;
+bool goesForward = false;
+bool moving = false;
+int rx_pin = 4; // pin 4 as RX
+int tx_pin = 2; // pin 2 as TX
+SoftwareSerial BTSerial(tx_pin, rx_pin);
+char bt_data;
+String arduino_data;
+void setup()
+{
+  pinMode(In1, OUTPUT);
+  pinMode(In2, OUTPUT);
+  pinMode(ENA, OUTPUT);
+  pinMode(In3, OUTPUT);
+  pinMode(In4, OUTPUT);
+  pinMode(ENB, OUTPUT);
+  digitalWrite(In1, LOW);
+  digitalWrite(In2, HIGH);
+  digitalWrite(In3, LOW);
+  digitalWrite(In4, HIGH);
+  analogWrite(ENA, robot_speed);
+  analogWrite(ENB, robot_speed);
+  BTSerial.begin(9600);
+  Serial.begin(9600);
+  delay(1000);
+}
+void moveForward() {
+ if(!goesForward || !moving) {
+    moveStop();
+    goesForward = true;
+    moving = true;
+    digitalWrite(In1, LOW);
+    digitalWrite(In2, HIGH);
+    digitalWrite(In3, LOW);
+    digitalWrite(In4, HIGH);
+    for (; robot_speed < SPEED; robot_speed +=2) {
+      analogWrite(ENA, robot_speed + BALANCE_DIFFERENCE);
+      analogWrite(ENB, robot_speed);
+      delay(5);
+   }
+  }
+}
+void moveStop() {
+    for (; robot_speed > 0; robot_speed -=2) {
+      analogWrite(ENA, robot_speed + BALANCE_DIFFERENCE);
+      analogWrite(ENB, robot_speed);
+      delay(5);
+   }
+    robot_speed = 0;
+    analogWrite(ENA, robot_speed);
+    analogWrite(ENB, robot_speed);
+    moving = false;
+}
+void moveBackward() {
+ if(goesForward || !moving) {
+    moveStop();
+    moving = true;
+    goesForward=false;
+    digitalWrite(In1, HIGH);
+    digitalWrite(In2, LOW);
+    digitalWrite(In3, HIGH);
+    digitalWrite(In4, LOW);
+    for (; robot_speed <SPEED; robot_speed +=2) {
+      analogWrite(ENA, robot_speed + BALANCE_DIFFERENCE);
+      analogWrite(ENB, robot_speed);
+      delay(5);
+   }
+  }
+}
+void turnLeft() {
+  if (moving) {
+    analogWrite(ENA, 0);
+    analogWrite(ENB, SPEED);
+    delay(300);
+    robot_speed = SPEED;
+    for (; robot_speed > 0; robot_speed -=2) {
+      analogWrite(ENB, robot_speed);
+      delay(5);
+   }
+    analogWrite(ENA, 0);
+    analogWrite(ENB, 0);
+    moving = false;
+  }
+}
+void turnRight() {
+  if (moving) {
+    analogWrite(ENA, SPEED);
+    analogWrite(ENB, 0);
+    delay(300);
+    robot_speed = SPEED;
+    for (; robot_speed > 0; robot_speed -=2) {
+      analogWrite(ENA, robot_speed);
+      delay(5);
+   }
+    analogWrite(ENA, 0);
+    analogWrite(ENB, 0);
+    moving = false;
+  }
+}
+void loop() {
+  if (BTSerial.available()) {
+    bt_data = BTSerial.read();
+    if (bt_data == UP_DIRECTION) {
+      moveForward();
+    } else if (bt_data == DOWN_DIRECTION) {
+      moveBackward();
+    } else if (bt_data == STOP_DIRECTION){
+      moveStop();
+    } else if (bt_data == LEFT_DIRECTION) {
+      turnLeft();
+    } else if (bt_data == RIGHT_DIRECTION) {
+      turnRight();
+    }
+  }
+}
+</code>
+ </spoiler>
 ====== Rezultate Obținute ======
@@ Line 123: / Line 290: @@
     * Un scurt videoclip cu controlarea robotului se poate găsi [[https://ctipub-my.sharepoint.com/:v:/g/personal/radu_nichita_stud_acs_upb_ro/EVXoO72hb6tLpcfEDG2-atsBtVpu9aZRlXRrDzkYLEsNXg?e=146yws | aici]]
+    * Schema electrică [[https://ctipub-my.sharepoint.com/:u:/g/personal/radu_nichita_stud_acs_upb_ro/EdArhdfFa9RKgb9fSnLsFksBLKbnhHqRDocTF867bN8BNA?e=0rcr1b | schema_electrica2021.sch]]
 ====== Documentație ======