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--- pm:prj2022:robert:mini_wall-e [2022/05/27 18:33]
ovidiu.ghibea [Hardware Design]
+++ pm:prj2022:robert:mini_wall-e [2022/05/27 19:33] (current)
ovidiu.ghibea [Jurnal]
@@ Line 31: / Line 31: @@
 Electric diagram:
 {{:pm:prj2022:robert:rob.png?300|}}
 ===== Software Design =====
-<note tip>
+  *Development environments used: ArduinoIDE
-Descrierea codului aplicaţiei (firmware):
-  * mediu de dezvoltare (if any) (e.g. AVR Studio, CodeVisionAVR)
-  * librării şi surse 3rd-party (e.g. Procyon AVRlib)
-  * algoritmi şi structuri pe care plănuiţi să le implementaţi
-  * (etapa 3) surse şi funcţii implementate
-</note>
+  *Used libraries:\\
+https://www.arduino.cc/reference/en/libraries/pcm/
+==== How It Works ====
+First define trig and echo pin of HC-SR04 in the program. In this project the trig pin is connected to GPIO9 and echo pin is connected to GPIO10 of Arduino NANO.
+<code cpp>
+int trigPin = 9;      // trig pin of HC-SR04
+int echoPin = 10;     // Echo pin of HC-SR04
+</code>
+Define pins for input of LM298N Motor Driver Module. The LM298N has 4 data input pins used to control the direction of motor connected to it.
+ <code cpp>
+int revleft4 = 4;       //REVerse motion of Left motor
+int fwdleft5 = 5;       //ForWarD motion of Left motor
+int revright6 = 6;      //REVerse motion of Right motor
+int fwdright7 = 7;      //ForWarD motion of Right motor
+</code>
+In setup() function, define the data direction of utilised GPIO pins. The four Motor pins and Trig pin is set as OUTPUT and Echo Pin is set as Input.
+<code cpp>
+pinMode(revleft4, OUTPUT);      // set Motor pins as output
+pinMode(fwdleft5, OUTPUT);
+pinMode(revright6, OUTPUT);
+pinMode(fwdright7, OUTPUT);
+pinMode(trigPin, OUTPUT);         // set trig pin as output
+pinMode(echoPin, INPUT);          //set echo pin as input to capture reflected waves
+</code>
+In loop() function, get the distance from HC-SR04 and based on the distance move the motor direction. The distance will show the object distance coming in front of the robot. The Distance is taken by bursting a beam of ultrasonic up to 10 us and receiving it after 10us. To learn more about measuring distance using Ultrasonic sensor and Arduino, follow the link.
+<code cpp>
+digitalWrite(trigPin, LOW);
+delayMicroseconds(2);
+digitalWrite(trigPin, HIGH);     // send waves for 10 us
+delayMicroseconds(10);
+duration = pulseIn(echoPin, HIGH); // receive reflected waves
+distance = duration / 58.2;   // convert to distance
+delay(10);
+</code>
+If the distance is greater than the defined distance means there is not obstacle in its path and it will moving in forward direction.
+<code cpp>
+if (distance > 19)
+            {
+            digitalWrite(fwdright7, HIGH);                    // move forward
+            digitalWrite(revright6, LOW);
+            digitalWrite(fwdleft5, HIGH);
+            digitalWrite(revleft4, LOW);
+            }
+</code>
+If the distance is less than the defined distance to avoid obstacle means there is some obstacle ahead. So in this situation robot will stop for a while and movebackwards after that again stop for a while and then take turn to another direction.
+<code cpp>
+if (distance < 18)
+             {
+             digitalWrite(fwdright7, LOW);  //Stop
+             digitalWrite(revright6, LOW);
+             digitalWrite(fwdleft5, LOW);
+             digitalWrite(revleft4, LOW);
+             delay(500);
+             digitalWrite(fwdright7, LOW);      //movebackword
+             digitalWrite(revright6, HIGH);
+             digitalWrite(fwdleft5, LOW);
+             digitalWrite(revleft4, HIGH);
+             delay(500);
+             digitalWrite(fwdright7, LOW);  //Stop
+             digitalWrite(revright6, LOW);
+             digitalWrite(fwdleft5, LOW);
+             digitalWrite(revleft4, LOW);
+             delay(100);
+             digitalWrite(fwdright7, HIGH);
+             digitalWrite(revright6, LOW);
+             digitalWrite(revleft4, LOW);
+             digitalWrite(fwdleft5, LOW);
+             delay(500);
+            }
+</code>
+This is how a robot can avoid obstacles in its path without getting stuck anywhere.
 ===== Rezultate Obţinute =====
@@ Line 51: / Line 121: @@
 ===== Concluzii =====
-===== Download =====
+After finishing the project, I learned that:\\
+  *While the code is simple, the hardest part was the making of the chasis.
-<note warning>
+  *Some parts have very tough bolts to unscrew which led to a lot of wasted time
-O arhivă (sau mai multe dacă este cazul) cu fişierele obţinute în urma realizării proiectului: surse, scheme, etc. Un fişier README, un ChangeLog, un script de compilare şi copiere automată pe uC crează întotdeauna o impresie bună ;-).
-Fişierele se încarcă pe wiki folosind facilitatea **Add Images or other files**. Namespace-ul în care se încarcă fişierele este de tipul **:pm:prj20??:c?** sau **:pm:prj20??:c?:nume_student** (dacă este cazul). **Exemplu:** Dumitru Alin, 331CC -> **:pm:prj2009:cc:dumitru_alin**.
+  *It was fun to see it work after all the effort put in it
-</note>
+===== Download =====
-===== Jurnal =====
+{{:pm:prj2022:robert:obsav.rar|Source Code}}
+{{:pm:prj2022:robert:rob.png?linkonly|Electric Diagram}}
-<note tip>
-Puteți avea și o secțiune de jurnal în care să poată urmări asistentul de proiect progresul proiectului.
-</note>
 ===== Bibliografie/Resurse =====
-<note>
+  *[[https://store.arduino.cc/products/arduino-uno-rev3/|Arduino UNO]]
-Listă cu documente, datasheet-uri, resurse Internet folosite, eventual grupate pe **Resurse Software** şi **Resurse Hardware**.
+  *[[https://www.newark.com/stmicroelectronics/l298n/ic-bridge-driver-dual-298/dp/10WX1394?rpsku=rel1:32M1527&isexcsku=false|SparkFun Dual H-Bridge motor drivers L298]]
-</note>
+  *[[https://www.sparkfun.com/products/15569|SparkFun Ultrasonic Sensor - HC-SR04]]
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