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--- pm:prj2021:apredescu:masina_controlata_prin_bluetooth [2021/06/03 19:17]
stefan.radutoiu
+++ pm:prj2021:apredescu:masina_controlata_prin_bluetooth [2021/06/04 13:37] (current)
stefan.radutoiu [Autor]
@@ Line 1: / Line 1: @@
 ===Masina controlata prin bluetooth cu senzori===
+====Autor====
+[[:stefan.radutoiu@stud.acs.pub.ro|Radutoiu Vlad]]
 ===Introducere===
 Proiectul consta in realizarea unei masini controlate prin bluetooth de pe telefon care se poate deplasa in orice directie cu senzor de oprire in cazul de intalnire a unui obstacol.
@@ Line 12: / Line 16: @@
 ===Schema Bloc===
-{{:pm:prj2021:apredescu:schema_bloc_vladut.png?200|}}
+{{:pm:prj2021:apredescu:schema_bloc_update_radutoiu.png?200|}}
 {{:pm:prj2021:apredescu:car_photo.jpeg?200|}}
@@ Line 35: / Line 39: @@
      * functia readPing este folosita pentru a citi distanta de pe senzorul ultrasonic
      * functia de loop citeste comnezi daca sunt primite pe modulul bluetooth si trateaza cazurile de miscare ale motoarelor. Comenzile de miscare sunt w,a,s,d iar pentru oprire este folosit x. Ecranul LCD afiseaza mereu distanta fata de obiectul din fata. Daca in fata mai sunt mai putin de 10 um masina se va opri si va afisa mesajul STOP.
+===Cod===
+#include <LiquidCrystal_I2C.h>
+#include <NewPing.h>
+#include <SoftwareSerial.h>
+LiquidCrystal_I2C lcd(0x27,20,4);
+  // Motor A
+int pwmA = 5;
+int in1A = 4;
+int in2A = 9;
+char command;
+char mode;
+// Motor B
+int pwmB = 6;
+int in1B = 7;
+int in2B = 8;
+int distance = 100;
+SoftwareSerial HM10(0, 1);
+#define trig_pin A1 //analog input 1
+#define echo_pin A2 //analog input 2
+#define maximum_distance 200
+int MotorSpeed1 = 0;
+int MotorSpeed2 = 0;
+NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+  HM10.begin(9600);
+  pinMode(pwmA, OUTPUT);
+  pinMode(pwmB, OUTPUT);
+  pinMode(in1A, OUTPUT);
+  pinMode(in2A, OUTPUT);
+  pinMode(in1B, OUTPUT);
+  pinMode(in2B, OUTPUT);
+}
+int readPing(){
+  delay(70);
+  int cm = sonar.ping_cm();
+  if (cm==0){
+    cm=250;
+  }
+  return cm;
+}
+void loop() {
+  // put your main code here, to run repeatedly:
+   HM10.listen();
+    if (HM10.available() > 0){
+    command = HM10.read();
+    lcd.print(command);
+    delay(1000);
+  }
+  else {
+  command = ' ';
+  }
+  lcd.init();
+  lcd.backlight();
+  lcd.clear();
+  lcd.setCursor(4,0);
+  distance = readPing();
+  lcd.print(distance);
+  if(distance < 10 && command != 's' && MotorSpeed1 !=0){
+    MotorSpeed1 = 0;
+    MotorSpeed2 = 0;
+    digitalWrite(in1A, HIGH);
+    digitalWrite(in2A, LOW);
+    digitalWrite(in1B, LOW);
+    digitalWrite(in2B, HIGH);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+    lcd.clear();
+    lcd.print("STOP");
+    delay(1000);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+    }
+  if (command == 'w'&& distance > 10){
+    MotorSpeed1 += 100;
+    MotorSpeed2 += 100;
+    digitalWrite(in1A, LOW);
+    digitalWrite(in2A, HIGH);
+    digitalWrite(in1B, HIGH);
+    digitalWrite(in2B, LOW);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+    lcd.clear();
+    lcd.print("FORWARD");
+    delay(1000);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+  }
+  if (command == 's' ){
+    MotorSpeed1 -= 100;
+    MotorSpeed2 -= 100;
+    digitalWrite(in1A, HIGH);
+    digitalWrite(in2A, LOW);
+    digitalWrite(in1B, LOW);
+    digitalWrite(in2B, HIGH);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+    lcd.clear();
+    lcd.print("BACKWARD");
+    delay(1000);
+    MotorSpeed1 = 0;
+    MotorSpeed2 = 0;
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+  }
+  if (command == 'x' ){
+    MotorSpeed1 = 0;
+    MotorSpeed2 = 0;
+    digitalWrite(in1A, HIGH);
+    digitalWrite(in2A, LOW);
+    digitalWrite(in1B, LOW);
+    digitalWrite(in2B, HIGH);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+    lcd.clear();
+    lcd.print("STOP");
+    delay(1000);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+  }
+// turn left
+    if (command == 'a'){
+    MotorSpeed1 = 100;
+    MotorSpeed2 = 100;
+    digitalWrite(in1A, LOW);
+    digitalWrite(in2A, HIGH);
+    digitalWrite(in1B, LOW);
+    digitalWrite(in2B, HIGH);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+    lcd.clear();
+    lcd.print("LEFT");
+    delay(1000);
+    MotorSpeed1 = 0;
+    MotorSpeed2 = 0;
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+  }
+ // turn right
+    if (command == 'd'){
+    MotorSpeed1 = 100;
+    MotorSpeed2 = 100;
+    digitalWrite(in1A, HIGH);
+    digitalWrite(in2A, LOW);
+    digitalWrite(in1B, HIGH);
+    digitalWrite(in2B, LOW);
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+    lcd.clear();
+    lcd.print("RIGHT");
+    delay(1000);
+    MotorSpeed1 = 0;
+    MotorSpeed2 = 0;
+    analogWrite(pwmA, MotorSpeed1);
+    analogWrite(pwmB, MotorSpeed2);
+  }
+  delay(100);
+}
 ===Video===