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--- pm:prj2022:robert:robotfollower [2022/05/27 11:04]
ioan_ovidiu.stiru [Software Design]
+++ pm:prj2022:robert:robotfollower [2022/06/01 20:06] (current)
ioan_ovidiu.stiru [Hardware Design]
@@ Line 1: / Line 1: @@
-====== Nume proiect ======
+====== Human Follower Robot ======
+Name: Tanase Paul-Gabriel
+Group: 1221 A
+Faculty: FILS
 ===== Introducere =====
@@ Line 19: / Line 25: @@
 O schemă bloc cu toate modulele proiectului vostru, atât software cât şi hardware însoţită de o descriere a acestora precum şi a modului în care interacţionează.
-Schemă bloc: {{:pm:prj2022:robert:schema_bloc_paul.png|}}
+Schemă bloc: {{:pm:prj2022:robert:schema_bloc_paul.png?300|}}
+Poze robot:
+{{:pm:prj2022:robert:tanase_paul_robo_front.jpg?300|}}
+{{:pm:prj2022:robert:tanase_paul_robo_side.jpg?300|}}
 </note>
@@ Line 32: / Line 43: @@
 	- 2 senzori IR
 	- Jumper Wires
-	- 2 bateri Li-on
+	- 2 Li-Ion Battery *
 {{:pm:prj2022:robert:schema_circuit.jpg?300|}}
 </note>
+<note tip>
+* Couldn't find Li-ion batteries. Replaced with a 9V battery
+</note>
 ===== Software Design =====
@@ Line 42: / Line 56: @@
 <note tip>
 Descrierea codului aplicaţiei (firmware):
-  * mediu de dezvoltare: Arduino IDE
+   Mediu de dezvoltare: **ArduinoIDE**
-  * librării şi surse 3rd-party NewPing AVRlib, Servo lib, AFMotor lib
-  * algoritmi şi structuri pe care plănuiţi să le implementaţi
+   Librarii folosite: **NewPing**,**Servo**,**AFMotor**
-  * (etapa 3) surse şi funcţii implementate
+ Cod:
+<code cpp>
+#include<NewPing.h>
+#include<Servo.h>
+#include<AFMotor.h>
+#define RIGHT A2              // Right IR sensor connected to analog pin A2 of Arduino Uno:
+#define LEFT A3               // Left IR sensor connected to analog pin A3 of Arduino Uno:
+#define TRIGGER_PIN A1        // Trigger pin connected to analog pin A1 of Arduino Uno:
+#define ECHO_PIN A0           // Echo pin connected to analog pin A0 of Arduino Uno:
+#define MAX_DISTANCE 200      // Maximum ping distance:
+unsigned int distance = 0;    //Variable to store ultrasonic sensor distance:
+unsigned int Right_Value = 0; //Variable to store Right IR sensor value:
+unsigned int Left_Value = 0;  //Variable to store Left IR sensor value:
+NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);  //NewPing setup of pins and maximum distance:
+AF_DCMotor Motor1(1,MOTOR12_1KHZ);
+AF_DCMotor Motor2(2,MOTOR12_1KHZ);
+AF_DCMotor Motor3(3,MOTOR34_1KHZ);
+AF_DCMotor Motor4(4,MOTOR34_1KHZ);
+ Servo myservo;
+ int pos=0;     //variable to store the servo position:
+void setup() { // the setup function runs only once when power on the board or reset the board:
+   Serial.begin(9600); //initailize serial communication at 9600 bits per second:
+   myservo.attach(10); // servo attached to pin 10 of Arduino UNO
+{
+for(pos = 90; pos <= 180; pos += 1){    // goes from 90 degrees to 180 degrees:
+  myservo.write(pos);                   //tell servo to move according to the value of 'pos' variable:
+  delay(15);                            //wait 15ms for the servo to reach the position:
+  }
+for(pos = 180; pos >= 0; pos-= 1) {     // goes from 180 degrees to 0 degrees:
+  myservo.write(pos);                   //tell servo to move according to the value of 'pos' variable:
+  delay(15);                            //wait 15ms for the servo to reach the position:
+  }
+for(pos = 0; pos<=90; pos += 1) {       //goes from 180 degrees to 0 degrees:
+  myservo.write(pos);                   //tell servo to move according to the value of 'pos' variable:
+  delay(15);                            //wait 15ms for the servo to reach the position:
+  }
+}
+   pinMode(RIGHT, INPUT); //set analog pin RIGHT as an input:
+   pinMode(LEFT, INPUT);  //set analog pin LEFT as an input:
+}
+// the lope function runs forever
+void loop() {
+delay(50);                                        //wait 50ms between pings:
+distance = sonar.ping_cm();                       //send ping, get distance in cm and store it in 'distance' variable:
+Serial.print("distance");
+Serial.println(distance);                         // print the distance in serial monitor:
+    Right_Value = digitalRead(RIGHT);             // read the value from Right IR sensor:
+    Left_Value = digitalRead(LEFT);               // read the value from Left IR sensor:
+Serial.print("RIGHT");
+Serial.println(Right_Value);                      // print the right IR sensor value in serial monitor:
+Serial.print("LEFT");
+Serial.println(Left_Value);                       //print the left IR sensor value in serial monitor:
+if((distance > 1) && (distance < 15)){            //check wheather the ultrasonic sensor's value stays between 1 to 15.
+                                                  //If the condition is 'true' then the statement below will execute:
+  //Move Forward:
+  Motor1.setSpeed(130);  //define motor1 speed:
+  Motor1.run(FORWARD);   //rotate motor1 clockwise:
+  Motor2.setSpeed(130);  //define motor2 speed:
+  Motor2.run(FORWARD);   //rotate motor2 clockwise:
+  Motor3.setSpeed(130);  //define motor3 speed:
+  Motor3.run(FORWARD);   //rotate motor3 clockwise:
+  Motor4.setSpeed(130);  //define motor4 speed:
+  Motor4.run(FORWARD);   //rotate motor4 clockwise:
+}else if((Right_Value==0) && (Left_Value==1)) {
+  //Turn Left
+  Motor1.setSpeed(150);  //define motor1 speed:
+  Motor1.run(FORWARD);   //rotate motor1 cloclwise:
+  Motor2.setSpeed(150);  //define motor2 speed:
+  Motor2.run(FORWARD);   //rotate motor2 clockwise:
+  Motor3.setSpeed(150);  //define motor3 speed:
+  Motor3.run(BACKWARD);  //rotate motor3 anticlockwise:
+  Motor4.setSpeed(150);  //define motor4 speed:
+  Motor4.run(BACKWARD);  //rotate motor4 anticlockwise:
+  delay(150);
+}else if((Right_Value==1)&&(Left_Value==0)) {
+  //Turn Right
+  Motor1.setSpeed(150);  //define motor1 speed:
+  Motor1.run(BACKWARD);  //rotate motor1 anticlockwise:
+  Motor2.setSpeed(150);  //define motor2 speed:
+  Motor2.run(BACKWARD);  //rotate motor2 anticlockwise:
+  Motor3.setSpeed(150);  //define motor3 speed:
+  Motor3.run(FORWARD);   //rotate motor3 clockwise:
+  Motor4.setSpeed(150);  //define motor4 speed:
+  Motor4.run(FORWARD);   //rotate motor4 clockwise:
+  delay(150);
+}else if(distance > 15) {
+  //Stop
+  Motor1.setSpeed(0);    //define motor1 speed:
+  Motor1.run(RELEASE);   //stop motor1:
+  Motor2.setSpeed(0);    //define motor2 speed:
+  Motor2.run(RELEASE);   //stop motor2:
+  Motor3.setSpeed(0);    //define motor3 speed:
+  Motor3.run(RELEASE);   //stop motor3:
+  Motor4.setSpeed(0);    //define motor4 speed:
+  Motor4.run(RELEASE);   //stop motor4:
+}
+}
+</code>
 </note>
@@ Line 57: / Line 190: @@
 ===== Download =====
+{{:pm:prj2022:robert:tanase_paul.rar|Resurse proiect}}
 <note warning>
@@ Line 73: / Line 208: @@
 <note>
-Listă cu documente, datasheet-uri, resurse Internet folosite, eventual grupate pe **Resurse Software** şi **Resurse Hardware**.
+**Listă cu documente, datasheet-uri, resurse Internet folosite**
+**Resurse Software:**
+  * [[https://github.com/adafruit/Adafruit-Motor-Shield-library|AFMotor GitHub documentation]]
+  * [[https://bitbucket.org/teckel12/arduino-new-ping/wiki/Home|NewPing lib wiki]]
+  * [[https://docs.arduino.cc/tutorials/|Arduino Tutorials]]
+**Resurse Hardware:**
+  * [[https://www.instructables.com/Arduino-Motor-Shield-Tutorial/|Arduino Motor Shield L293D General info]]
+  * [[https://www.quora.com/How-do-I-connect-a-sensor-with-Arduino-when-Im-using-the-L293D-motor-shield-as-the-shield-takes-all-the-pins| How to connect sensors to Motor Shield (Quora answer)]]
+  * [[https://forum.arduino.cc/t/using-a-motor-shield-where-to-plug-other-sensors-ir/80842|How to connect IR sensors to shield (Arduino forums)]]
+  * [[https://www.instructables.com/Arduino-HC-SR04-Ultrasonic-Rover/| Example to attach Ultrasonic sensor]]
 </note>
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