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--- pm:prj2021:alazar:rc_offroad_car [2021/04/25 22:09]
ioan_robert.gogete
+++ pm:prj2021:alazar:rc_offroad_car [2021/05/31 18:25] (current)
ioan_robert.gogete [Concluzii]
@@ Line 1: / Line 1: @@
 ====== RC Offroad Car ======
+===== Autor =====
+Robert Gogete 331CB
 ===== Introducere =====
@@ Line 13: / Line 16: @@
 ===== Schemă bloc =====
+{{:pm:prj2021:alazar:schemablocv2_gogeterobert331cb.png?200|}}
 ===== Hardware Design =====
-Arduino pro micro, acumulator 5V, bluetooth HC-05, Driver motoare, senzor de proximitate
+Componente folosite:
+  * Arduino pro micro
+  * acumulator 5V
+  * bluetooth HC-05
+  * Driver motoare
+  * senzor de proximitate
+  * 3 motoare 5V
+{{:pm:prj2021:alazar:schemabloc_gogeterobert331cb.png?200|}}
 ===== Software Design =====
-===== Descrierea codului aplicaţiei (firmware): =====
+<code>
+void setup()
+{
+  Serial.begin(9600);
+  Serial1.begin(9600);
+  pinMode(MOTORS, OUTPUT);
+  pinMode(MOTORS_DIRECTION, OUTPUT);
+  pinMode(SERVO_DIRECTION, OUTPUT);
+  pinMode(SERVO_DIRECTION_SPEED, OUTPUT);
+  pinMode(PROXIMITY_SENSOR, INPUT_PULLUP);
+}
+void loop()
+{
+  readInput();
+  resetAtInactivity();
+  setMotorSpeed();
+  setDirection();
+}
+void resetAtInactivity()
+{
+  if (millis() - time > 200)
+  {
+    controller_y = 50;
+    controller_x = 50;
+  }
+}
+void readInput()
+{
+  if(Serial1.available())
+  {
+    time = millis();
+    incoming_value = Serial1.read();
+    switch(incoming_value)
+    {
+      case 'X':
+        value_type = 1;
+        setControllerCoordinates();
+        controller_x_auxiliary = 0;
+        break;
+      case 'Y':
+        value_type = 2;
+        controller_y_auxiliary = 0;
+        break;
+      default:
+          switch(value_type)
+          {
+            case 1:
+              controller_x_auxiliary *= 10;
+              controller_x_auxiliary += incoming_value - '0';
+              break;
+            case 2:
+              controller_y_auxiliary *= 10;
+              controller_y_auxiliary += incoming_value - '0';
+              break;
+          }
+        break;
+    }
+  }
+}
+void setMotorSpeed()
+{
+  int clearPath = digitalRead(PROXIMITY_SENSOR);
+  Serial.println(clearPath);
+  if (controller_y <= 50 && clearPath)
+  {
+    analogWrite(MOTORS, controller_y * 255 / 50);
+    digitalWrite(MOTORS_DIRECTION, HIGH);
+  }
+  else if (controller_y > 50)
+  {
+    analogWrite(MOTORS, (controller_y - 50) * 255 / 50);
+    digitalWrite(MOTORS_DIRECTION, LOW);
+  }
+  else
+  {
+    analogWrite(MOTORS, 255);
+    digitalWrite(MOTORS_DIRECTION, HIGH);
+  }
+}
+void setDirection()
+{
+  if (controller_x < 25)
+  {
+    digitalWrite(SERVO_DIRECTION, HIGH);
+    digitalWrite(SERVO_DIRECTION_SPEED, LOW);
+  }
+  else if (controller_x > 75)
+  {
+    digitalWrite(SERVO_DIRECTION, LOW);
+    digitalWrite(SERVO_DIRECTION_SPEED, HIGH);
+  }
+  else
+  {
+    digitalWrite(SERVO_DIRECTION, LOW);
+    digitalWrite(SERVO_DIRECTION_SPEED, LOW);
+  }
+}
+void setControllerCoordinates()
+{
+  controller_x = controller_x_auxiliary;
+  controller_y = controller_y_auxiliary;
+}
+</code>
 ===== Rezultate Obţinute =====
+{{:pm:prj2021:alazar:rcoffroadcar_robertgogete331cb_car1.jpg?200|}}
+{{:pm:prj2021:alazar:rcoffroadcar_robertgogete331cb_car2.jpg?200|}}
+Link catre video cu demo (am filmat masinuta in timp  ce o controlam din telefon): [[https://mega.nz/file/IpAE2TqA#ABH6GDGrwyVRfZCJEqUFGSODR-stFDeneov0merYs3o]]
 ===== Concluzii =====
+Proiect pe care l-am facut din placere, din care simt ca am invatat mai multa electronica decat in 2 cursuri.
 ===== Download =====
-Export în PDF: [[https://ocw.cs.pub.ro/courses/pm/prj2021/alazar/rc_offroad_car?do=export_pdf|]]
+Export în [[https://ocw.cs.pub.ro/courses/pm/prj2021/alazar/rc_offroad_car?do=export_pdf| PDF]]