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--- pm:prj2022:avaduva:robot4wd [2022/05/27 23:01]
mihai.cojocaru2510 [Rezultatul final]
+++ pm:prj2022:avaduva:robot4wd [2022/06/02 10:19] (current)
mihai.cojocaru2510 [Descriere generală]
@@ Line 12: / Line 12: @@
  **Schema bloc**
-{{:pm:prj2022:avaduva:diagramarobot.png?700|}}
+{{:pm:prj2022:avaduva:diagrama_electrica_robot.png?700|}}
 ===== Hardware Design =====
@@ Line 31: / Line 31: @@
  * #include <NewPing.h> -> pentru senzorul cu ultrasunete
-===== Concluzii =====
 ===== Rezultatul final ======
@@ Line 42: / Line 37: @@
 {{:pm:prj2022:avaduva:asasdasdasdasd.jpg?700|}}
+{{:pm:prj2022:avaduva:mihaitajrr.jpg?700|}}
 ===== Download =====
+<note important>
-<note warning>
+{{:pm:prj2022:avaduva:obstacle_robot.rar|}}
 </note>
@@ Line 61: / Line 57: @@
 </note>
+===== Cod =====
+#include <NewPing.h>
+const int RF = 6;
+const int RB = 7;
+const int LF = 5;
+const int LB = 4;
+#define trig 12
+#define echo 13
+#define max_dist 200
+boolean check = false;
+int dist = 100;
+NewPing sonar(trig, echo, max_dist);
+void setup(){
+  pinMode(LF, OUTPUT);
+  pinMode(RF, OUTPUT);
+  pinMode(RB, OUTPUT);
+  pinMode(LB, OUTPUT);
+  dist = readPing();
+  delay(100);
+}
+void loop(){
+  moveForward();
+  if (dist <= 35){
+    moveStop();
+    delay(300);
+    moveBackward();
+    delay(700);
+    moveStop();
+    delay(300);
+    int distance = look();
+    if (dist >= distance){
+      turnRight();
+      moveStop();
+    }
+  else{
+    moveForward();
+  }
+}
+  dist = readPing();
+}
+int look(){
+  int distance = readPing();
+  delay(100);
+  return distance;
+  delay(100);
+}
+int readPing(){
+  delay(70);
+  int cm = sonar.ping_cm();
+  if (cm==0){
+    cm=250;
+  }
+  return cm;
+}
+void moveStop(){
+  digitalWrite(LF, LOW);
+  digitalWrite(RF, LOW);
+  digitalWrite(LB, LOW);
+  digitalWrite(RB, LOW);
+}
+void moveForward(){
+  if(!check){
+    check=true;
+    digitalWrite(RF, HIGH);
+    digitalWrite(LF, HIGH);
+    digitalWrite(LB, LOW);
+    digitalWrite(RB, LOW);
+  }
+}
+void moveBackward(){
+  check=false;
+    digitalWrite(RF, LOW);
+    digitalWrite(LF, LOW);
+    digitalWrite(LB, HIGH);
+    digitalWrite(RB, HIGH);
+}
+void turnRight(){
+  digitalWrite(RF, HIGH);
+  digitalWrite(LB, HIGH);
+  digitalWrite(RB, LOW);
+  digitalWrite(LF, LOW);
+  delay(500);
+  digitalWrite(LF, HIGH);
+  digitalWrite(RF, HIGH);
+  digitalWrite(LB, LOW);
+  digitalWrite(RB, LOW);
+}
+===== Concluzii =====
+Chiar daca proiectul pe care l-am ales nu este unul dificil pot spune ca am avut ce invata din acest proiect. Am invatat cum sa folosesc driverul L298N cu ajutorul unor videoclipuri de pe Youtube in care se faceau proiecte asemanatoare cu ale mele.
 ===== Bibliografie/Resurse =====
 <note>
+  -[[https://www.youtube.com/watch?v=iajyaWi1Ln4&t=2752s|]]
+  -[[https://create.arduino.cc/projecthub/now/l298n-motor-module-service-ba0f56?ref=search&ref_id=l298n&offset=0]]
+  -[[https://www.youtube.com/watch?v=dyjo_ggEtVU]]
 </note>
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