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kiber_tc_2018 [2019/03/26 20:00] super_admin [Вариант 2.1. Простейший релейный регулятор движения по линии] |
kiber_tc_2018 [2019/04/16 20:25] super_admin [Вариант 2.1. Простейший релейный регулятор движения по линии + ультразвуковой датчик препятствия] |
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Строка 3: | Строка 3: | ||
===== Основы электроники ===== | ===== Основы электроники ===== | ||
* [[electronics|Основы электроники]] | * [[electronics|Основы электроники]] | ||
+ | * [[http://www.radio-samodel.ru/kontur.html]] - Нужная теория | ||
+ | * [[https://phet.colorado.edu/en/simulation/ohms-law]] - модели, симуляторы | ||
* [[http://www.intepra.ru/wiki/doku.php?id=electronics#%D1%82%D0%B5%D0%BE%D1%80%D0%B8%D1%8F|Теория]] | * [[http://www.intepra.ru/wiki/doku.php?id=electronics#%D1%82%D0%B5%D0%BE%D1%80%D0%B8%D1%8F|Теория]] | ||
* [[http://wiki.amperka.ru/%D0%BA%D0%BE%D0%BD%D1%81%D0%BF%D0%B5%D0%BA%D1%82-arduino:%D0%BF%D1%80%D0%B8%D0%BD%D1%86%D0%B8%D0%BF%D0%B8%D0%B0%D0%BB%D1%8C%D0%BD%D1%8B%D0%B5-%D1%81%D1%85%D0%B5%D0%BC%D1%8B|Принципиальные схемы]] | * [[http://wiki.amperka.ru/%D0%BA%D0%BE%D0%BD%D1%81%D0%BF%D0%B5%D0%BA%D1%82-arduino:%D0%BF%D1%80%D0%B8%D0%BD%D1%86%D0%B8%D0%BF%D0%B8%D0%B0%D0%BB%D1%8C%D0%BD%D1%8B%D0%B5-%D1%81%D1%85%D0%B5%D0%BC%D1%8B|Принципиальные схемы]] | ||
Строка 507: | Строка 509: | ||
</code> | </code> | ||
+ | |||
+ | ==== Релейный регулятор датчиков линии на драйвере L293D (обновленная версия) ==== | ||
+ | |||
+ | <code> | ||
+ | |||
+ | |||
+ | |||
+ | #define PWMA 6 // выходы arduino | ||
+ | #define PWMB 3 | ||
+ | #define AIN1 7 | ||
+ | #define AIN2 8 | ||
+ | #define BIN1 2 | ||
+ | #define BIN2 4 | ||
+ | |||
+ | |||
+ | #define lS 12 | ||
+ | #define rS 11 | ||
+ | |||
+ | int min_speed = 120; | ||
+ | int max_speed = 255; | ||
+ | int n_speed = 180; | ||
+ | int dif = 180; | ||
+ | |||
+ | uint8_t lSState; | ||
+ | uint8_t rSState; | ||
+ | |||
+ | int state; | ||
+ | int prevState; | ||
+ | int readyState = 0; | ||
+ | |||
+ | void resetState(int st){ | ||
+ | prevState = state; | ||
+ | state = st; | ||
+ | } | ||
+ | |||
+ | |||
+ | //int state; | ||
+ | void setup() { | ||
+ | |||
+ | /* Настроить все 7 выводов на выходы, идущие к драйверу TB6612FNG */ | ||
+ | pinMode(PWMA,OUTPUT); | ||
+ | pinMode(AIN1,OUTPUT); | ||
+ | pinMode(AIN2,OUTPUT); | ||
+ | pinMode(PWMB,OUTPUT); | ||
+ | pinMode(BIN1,OUTPUT); | ||
+ | pinMode(BIN2,OUTPUT); | ||
+ | pinMode(lS,INPUT); | ||
+ | pinMode(rS,INPUT); | ||
+ | Serial.begin(9600); | ||
+ | while (readyState == 0) { | ||
+ | testSensors(); | ||
+ | if (prevState != 11) | ||
+ | readyState = 1; | ||
+ | delay(1000); | ||
+ | } | ||
+ | delay(2000); | ||
+ | |||
+ | } | ||
+ | |||
+ | void testSensors(){ | ||
+ | lSState = digitalRead(lS); | ||
+ | rSState = digitalRead(rS); | ||
+ | //Serial.println(lSState); | ||
+ | //Serial.println(rSState); | ||
+ | //Serial.println(""); | ||
+ | | ||
+ | if (lSState == 0 && rSState == 0 ){ | ||
+ | resetState(0); | ||
+ | //goForward(n_speed); | ||
+ | } | ||
+ | if (lSState == 1 && rSState == 0 ){ | ||
+ | resetState(10); | ||
+ | //goForward(n_speed); | ||
+ | } | ||
+ | // if (current_dist <= dangerous_dist ){ | ||
+ | // resetState(1); | ||
+ | //applyBrakes (); | ||
+ | // } | ||
+ | if (lSState == 1 && rSState == 1 ){ | ||
+ | //if (readyState == 0) | ||
+ | resetState(11); | ||
+ | //veerRight(n_speed, dif); | ||
+ | } | ||
+ | if (lSState == 0 && rSState == 1 ){ | ||
+ | resetState(1); | ||
+ | //veerLeft(n_speed, dif); | ||
+ | } | ||
+ | | ||
+ | } | ||
+ | |||
+ | |||
+ | |||
+ | void loop() { | ||
+ | testSensors(); | ||
+ | updateMotion(n_speed, dif); | ||
+ | |||
+ | // centralLineFollower(); | ||
+ | |||
+ | delay(1); | ||
+ | |||
+ | } | ||
+ | |||
+ | void updateMotion(int sp, int d){ | ||
+ | switch ( state ) { | ||
+ | case 0: | ||
+ | if (prevState == 1) | ||
+ | veerLeft(sp, d); | ||
+ | else if (prevState == 10) | ||
+ | veerRight(sp, d); | ||
+ | break; | ||
+ | case 1: | ||
+ | // Code | ||
+ | goForward(sp); | ||
+ | break; | ||
+ | case 10: | ||
+ | // Code | ||
+ | goForward(sp); | ||
+ | break; | ||
+ | case 11: | ||
+ | // Code | ||
+ | if (prevState == 10) | ||
+ | veerRight(sp, d); | ||
+ | else if (prevState == 1) | ||
+ | veerLeft(sp, d); | ||
+ | break; | ||
+ | } | ||
+ | | ||
+ | } | ||
+ | |||
+ | void leftLineFollower(){ | ||
+ | //goForward(n_speed); | ||
+ | //applyBrakes (); | ||
+ | //veerRight(n_speed, dif); | ||
+ | //veerLeft(n_speed, dif); | ||
+ | |||
+ | } | ||
+ | void centralLineFollower(){ | ||
+ | |||
+ | } | ||
+ | |||
+ | void goForward (int v) | ||
+ | { | ||
+ | digitalWrite (AIN1,HIGH); | ||
+ | digitalWrite (AIN2,LOW); | ||
+ | analogWrite(PWMA,v); | ||
+ | digitalWrite (BIN1,HIGH); | ||
+ | digitalWrite (BIN2,LOW); | ||
+ | analogWrite(PWMB,v); | ||
+ | } | ||
+ | |||
+ | void goBackward (int v) | ||
+ | { | ||
+ | digitalWrite (AIN1,LOW); | ||
+ | digitalWrite (AIN2,HIGH); | ||
+ | analogWrite(PWMA,v); | ||
+ | digitalWrite (BIN1,LOW); | ||
+ | digitalWrite (BIN2,HIGH); | ||
+ | analogWrite(PWMB,v); | ||
+ | } | ||
+ | |||
+ | void rotateRight (int v) | ||
+ | { | ||
+ | digitalWrite (AIN1,HIGH); | ||
+ | digitalWrite (AIN2,LOW); | ||
+ | analogWrite(PWMA,v); | ||
+ | digitalWrite (BIN1,LOW); | ||
+ | digitalWrite (BIN2,HIGH); | ||
+ | analogWrite(PWMB,v); | ||
+ | } | ||
+ | |||
+ | void rotateLeft (int v) | ||
+ | { | ||
+ | digitalWrite (AIN1,LOW); | ||
+ | digitalWrite (AIN2,HIGH); | ||
+ | analogWrite(PWMA,v); | ||
+ | digitalWrite (BIN1,HIGH); | ||
+ | digitalWrite (BIN2,LOW); | ||
+ | analogWrite(PWMB,v); | ||
+ | } | ||
+ | |||
+ | void veerLeft (int v, int d) | ||
+ | { | ||
+ | digitalWrite (AIN1,HIGH); | ||
+ | digitalWrite (AIN2,LOW); | ||
+ | analogWrite(PWMA,v); | ||
+ | digitalWrite (BIN1,HIGH); | ||
+ | digitalWrite (BIN2,LOW); | ||
+ | analogWrite(PWMB,v -d); | ||
+ | } | ||
+ | |||
+ | void veerRight (int v, int d) | ||
+ | { | ||
+ | digitalWrite (AIN1,HIGH); | ||
+ | digitalWrite (AIN2,LOW); | ||
+ | analogWrite(PWMA,v -d); | ||
+ | digitalWrite (BIN1,HIGH); | ||
+ | digitalWrite (BIN2,LOW); | ||
+ | analogWrite(PWMB,v ); | ||
+ | } | ||
+ | |||
+ | void applyBrakes () | ||
+ | { | ||
+ | digitalWrite (AIN1,HIGH); | ||
+ | digitalWrite (AIN2,HIGH); | ||
+ | analogWrite(PWMA,255); | ||
+ | digitalWrite (BIN1,HIGH); | ||
+ | digitalWrite (BIN2,HIGH); | ||
+ | analogWrite(PWMB,255); | ||
+ | } | ||
+ | |||
+ | </code> | ||
==== Управление питанием посредством кнопки ==== | ==== Управление питанием посредством кнопки ==== | ||
Строка 695: | Строка 908: | ||
- | |||
- | ==== Вариант 2 ==== | ||
- | |||
- | |||
- | <code C++> | ||
- | |||
- | #define PWMA 9 // выходы arduino | ||
- | #define PWMB 10 | ||
- | #define AIN1 6 | ||
- | #define AIN2 7 | ||
- | #define BIN1 5 | ||
- | #define BIN2 4 | ||
- | #define STBY 13 | ||
- | |||
- | void setup() { | ||
- | |||
- | /* Настроить все 7 выводов на выходы, идущие к драйверу TB6612FNG */ | ||
- | pinMode(PWMA,OUTPUT); | ||
- | pinMode(AIN1,OUTPUT); | ||
- | pinMode(AIN2,OUTPUT); | ||
- | pinMode(PWMB,OUTPUT); | ||
- | pinMode(BIN1,OUTPUT); | ||
- | pinMode(BIN2,OUTPUT); | ||
- | pinMode(STBY,OUTPUT); | ||
- | delay(5000); | ||
- | |||
- | } | ||
- | |||
- | void loop() { | ||
- | |||
- | startUp(); | ||
- | goForward(); | ||
- | delay(1500); | ||
- | turnAround(); | ||
- | goForward(); | ||
- | delay(1500); | ||
- | turnAround(); | ||
- | goBackward(); | ||
- | delay(1500); | ||
- | rotateLeft(); | ||
- | delay(560); | ||
- | rotateRight(); | ||
- | delay(2240); | ||
- | goForward(); | ||
- | delay(1000); | ||
- | applyBrakes(); | ||
- | delay(2000); | ||
- | } | ||
- | |||
- | /* Определение функций */ | ||
- | /* Опытным путем было выяснено, что при коэффициенте ШИМ равном 233 */ | ||
- | /* для левого двигателя и 255 для правого позволяют роботу */ | ||
- | /* двигаться по прямой на полной скорости. Тесты показали, что робот */ | ||
- | /* совершает 27 оборотов вокруг своей оси в минуту при вращении двигателей */ | ||
- | /* в противоположные стороны при полном заполнении ШИМ. Эта величина */ | ||
- | /* была использована для определения времени, */ | ||
- | /* за которое робот повернется на 90, 180 и 360 градусов. */ | ||
- | |||
- | void goForward () | ||
- | { | ||
- | digitalWrite (AIN1,HIGH); | ||
- | digitalWrite (AIN2,LOW); | ||
- | analogWrite(PWMA,155); | ||
- | digitalWrite (BIN1,HIGH); | ||
- | digitalWrite (BIN2,LOW); | ||
- | analogWrite(PWMB,155); | ||
- | } | ||
- | |||
- | void goBackward () | ||
- | { | ||
- | digitalWrite (AIN1,LOW); | ||
- | digitalWrite (AIN2,HIGH); | ||
- | analogWrite(PWMA,155); | ||
- | digitalWrite (BIN1,LOW); | ||
- | digitalWrite (BIN2,HIGH); | ||
- | analogWrite(PWMB,155); | ||
- | } | ||
- | |||
- | void rotateRight () | ||
- | { | ||
- | digitalWrite (AIN1,HIGH); | ||
- | digitalWrite (AIN2,LOW); | ||
- | analogWrite(PWMA,100); | ||
- | digitalWrite (BIN1,LOW); | ||
- | digitalWrite (BIN2,HIGH); | ||
- | analogWrite(PWMB,100); | ||
- | } | ||
- | |||
- | void rotateLeft () | ||
- | { | ||
- | digitalWrite (AIN1,LOW); | ||
- | digitalWrite (AIN2,HIGH); | ||
- | analogWrite(PWMA,100); | ||
- | digitalWrite (BIN1,HIGH); | ||
- | digitalWrite (BIN2,LOW); | ||
- | analogWrite(PWMB,100); | ||
- | } | ||
- | |||
- | void veerLeft () | ||
- | { | ||
- | digitalWrite (AIN1,HIGH); | ||
- | digitalWrite (AIN2,LOW); | ||
- | analogWrite(PWMA,100); | ||
- | digitalWrite (BIN1,HIGH); | ||
- | digitalWrite (BIN2,LOW); | ||
- | analogWrite(PWMB,155); | ||
- | } | ||
- | |||
- | void veerRight () | ||
- | { | ||
- | digitalWrite (AIN1,HIGH); | ||
- | digitalWrite (AIN2,LOW); | ||
- | analogWrite(PWMA,155); | ||
- | digitalWrite (BIN1,HIGH); | ||
- | digitalWrite (BIN2,LOW); | ||
- | analogWrite(PWMB,100); | ||
- | } | ||
- | |||
- | void applyBrakes () | ||
- | { | ||
- | digitalWrite (AIN1,HIGH); | ||
- | digitalWrite (AIN2,HIGH); | ||
- | analogWrite(PWMA,155); | ||
- | digitalWrite (BIN1,HIGH); | ||
- | digitalWrite (BIN2,HIGH); | ||
- | analogWrite(PWMB,155); | ||
- | } | ||
- | |||
- | void startUp () | ||
- | { | ||
- | digitalWrite(STBY,HIGH); | ||
- | } | ||
- | |||
- | void turnAround() | ||
- | { | ||
- | rotateLeft(); | ||
- | delay(5000); | ||
- | } | ||
- | |||
- | void shutDown () | ||
- | { | ||
- | digitalWrite(STBY,LOW); | ||
- | } | ||
- | |||
- | </code> | ||
Строка 907: | Строка 975: | ||
} | } | ||
- | void testmove(){ | + | |
- | //startUp(); | + | |
- | //goForward(); | + | |
- | //delay(1500); | + | |
- | //turnAround(); | + | |
- | //goForward(); | + | |
- | //delay(1500); | + | |
- | //turnAround(); | + | |
- | //goBackward(); | + | |
- | //delay(1500); | + | |
- | //rotateLeft(); | + | |
- | //delay(560); | + | |
- | //rotateRight(); | + | |
- | //delay(2240); | + | |
- | // goForward(); | + | |
- | // delay(1000); | + | |
- | //applyBrakes(); | + | |
- | // delay(2000); | + | |
- | + | ||
- | } | + | |
void goForward (int v) | void goForward (int v) | ||
Строка 1003: | Строка 1052: | ||
} | } | ||
- | //void turnAround() | + | |
- | //{ | + | |
- | // rotateLeft(); | + | |
- | // delay(1370); | + | |
- | //} | + | |
void shutDown () | void shutDown () | ||
Строка 1016: | Строка 1061: | ||
</code> | </code> | ||
- | + | ==== Реализация машины состояний при движении по линии ==== | |
- | + | ||
- | + | ||
- | ==== Вариант 2.1. Простейший релейный регулятор движения по линии ==== | + | |
<code C++> | <code C++> | ||
- | |||
- | #define PWMA 9 // выходы arduino | + | #define PWMA 11 // выходы arduino |
#define PWMB 10 | #define PWMB 10 | ||
#define AIN1 6 | #define AIN1 6 | ||
Строка 1032: | Строка 1073: | ||
#define BIN2 4 | #define BIN2 4 | ||
#define STBY 13 | #define STBY 13 | ||
+ | |||
+ | #define lS 9 | ||
+ | #define rS 8 | ||
+ | |||
+ | int min_speed = 120; | ||
+ | int max_speed = 255; | ||
+ | int n_speed = 200; | ||
+ | int dif = 200; | ||
- | #define lS 8 // левый датчик линии | + | uint8_t lSState; |
- | #define rS 12 | + | uint8_t rSState; |
- | int min_speed = 100; | + | int state; |
- | int max_speed = 255; | + | int prevState; |
- | int n_speed = 110; | + | int readyState = 0; |
- | int dif = 110; | + | |
- | uint8_t lSState=0; | + | |
- | uint8_t rSState=0; | + | |
+ | void resetState(int st){ | ||
+ | prevState = state; | ||
+ | state = st; | ||
+ | } | ||
+ | |||
//int state; | //int state; | ||
+ | void setup() { | ||
- | void setup() { | + | /* Настроить все 7 выводов на выходы, идущие к драйверу TB6612FNG */ |
- | + | pinMode(PWMA,OUTPUT); | |
- | /* Настроить все 7 выводов на выходы, идущие к драйверу TB6612FNG */ | + | pinMode(AIN1,OUTPUT); |
- | pinMode(PWMA,OUTPUT); | + | pinMode(AIN2,OUTPUT); |
- | pinMode(AIN1,OUTPUT); | + | pinMode(PWMB,OUTPUT); |
- | pinMode(AIN2,OUTPUT); | + | pinMode(BIN1,OUTPUT); |
- | pinMode(PWMB,OUTPUT); | + | pinMode(BIN2,OUTPUT); |
- | pinMode(BIN1,OUTPUT); | + | pinMode(lS,INPUT); |
- | pinMode(BIN2,OUTPUT); | + | pinMode(rS,INPUT); |
- | pinMode(STBY,OUTPUT); | + | Serial.begin(9600); |
- | pinMode(lS,INPUT); | + | while (readyState == 0) { |
- | pinMode(rS,INPUT); | + | testSensors(); |
- | Serial.begin(9600); | + | if (prevState != 11) |
- | startUp(); | + | readyState = 1; |
+ | delay(1000); | ||
+ | } | ||
+ | delay(2000); | ||
+ | startUp(); | ||
} | } | ||
- | |||
- | void loop() { | ||
- | lSState = digitalRead(lS); | ||
- | rSState = digitalRead(rS); | ||
- | Serial.println(lSState); | ||
- | Serial.println(rSState); | ||
- | Serial.println(""); | ||
- | + | void testSensors(){ | |
- | if (lSState == 0 && rSState == 0){ | + | lSState = digitalRead(lS); |
- | goForward(n_speed); | + | rSState = digitalRead(rS); |
+ | //Serial.println(lSState); | ||
+ | //Serial.println(rSState); | ||
+ | //Serial.println(""); | ||
+ | |||
+ | if (lSState == 0 && rSState == 0 ){ | ||
+ | resetState(0); | ||
+ | //goForward(n_speed); | ||
} | } | ||
- | + | if (lSState == 1 && rSState == 0 ){ | |
- | if (lSState == 1 && rSState == 1){ | + | resetState(10); |
- | applyBrakes (); | + | //goForward(n_speed); |
} | } | ||
- | if (lSState == 1 && rSState == 0){ | + | // if (current_dist <= dangerous_dist ){ |
- | veerRight(n_speed, dif); | + | // resetState(1); |
+ | //applyBrakes (); | ||
+ | // } | ||
+ | if (lSState == 1 && rSState == 1 ){ | ||
+ | //if (readyState == 0) | ||
+ | resetState(11); | ||
+ | //veerRight(n_speed, dif); | ||
} | } | ||
- | if (lSState == 0 && rSState == 1){ | + | if (lSState == 0 && rSState == 1 ){ |
- | veerLeft(n_speed, dif); | + | resetState(1); |
- | } | + | //veerLeft(n_speed, dif); |
+ | } | ||
+ | |||
+ | } | ||
- | delay(10); | + | |
- | | + | void loop() { |
+ | testSensors(); | ||
+ | updateMotion(n_speed, dif); | ||
+ | |||
+ | // centralLineFollower(); | ||
+ | |||
+ | //delay(1); | ||
+ | |||
} | } | ||
- | void testmove(){ | + | |
- | //startUp(); | + | void updateMotion(int sp, int d){ |
- | //goForward(); | + | switch ( state ) { |
- | //delay(1500); | + | case 0: |
- | //turnAround(); | + | if (prevState == 1) |
- | //goForward(); | + | //veerLeft(sp, d); |
- | //delay(1500); | + | veerRight(sp, d); |
- | //turnAround(); | + | else if (prevState == 10) |
- | //goBackward(); | + | //veerRight(sp, d); |
- | //delay(1500); | + | veerLeft(sp, d); |
- | //rotateLeft(); | + | break; |
- | //delay(560); | + | case 1: |
- | //rotateRight(); | + | // Code |
- | //delay(2240); | + | goForward(sp); |
- | // goForward(); | + | break; |
- | // delay(1000); | + | case 10: |
- | //applyBrakes(); | + | // Code |
- | // delay(2000); | + | goForward(sp); |
- | | + | break; |
+ | case 11: | ||
+ | // Code | ||
+ | if (prevState == 10) | ||
+ | veerRight(sp, d); | ||
+ | else if (prevState == 1) | ||
+ | veerLeft(sp, d); | ||
+ | break; | ||
+ | } | ||
+ | | ||
+ | } | ||
+ | |||
+ | void leftLineFollower(){ | ||
+ | //goForward(n_speed); | ||
+ | //applyBrakes (); | ||
+ | //veerRight(n_speed, dif); | ||
+ | //veerLeft(n_speed, dif); | ||
+ | |||
+ | } | ||
+ | void centralLineFollower(){ | ||
+ | |||
} | } | ||
Строка 1183: | Строка 1276: | ||
} | } | ||
- | //void turnAround() | + | |
- | //{ | + | |
- | // rotateLeft(); | + | |
- | // delay(1370); | + | |
- | //} | + | |
void shutDown () | void shutDown () | ||
Строка 1195: | Строка 1284: | ||
</code> | </code> | ||
+ | |||
+ | |||
+ | |||
+ | |||
+ | ==== Вариант 2.1. Простейший релейный регулятор движения по линии + ультразвуковой датчик препятствия (промежуточный вариант, требует доработки) ==== | ||
<code C++> | <code C++> | ||
+ | |||
#include <Ping.h> | #include <Ping.h> | ||
Строка 1210: | Строка 1305: | ||
#define STBY 13 | #define STBY 13 | ||
- | #define lS 9 // левый датчик линии | + | #define lS 9 |
#define rS 8 | #define rS 8 | ||
+ | |||
+ | int distance = 10; | ||
+ | int ping_distance = 400; | ||
+ | |||
+ | Ping ping = Ping(2); | ||
+ | |||
+ | uint32_t previousMillis = 0; | ||
+ | uint16_t timePeriod = 50; | ||
+ | |||
- | int min_speed = 100; | + | int min_speed = 120; |
int max_speed = 255; | int max_speed = 255; | ||
- | int n_speed = 170; | + | int n_speed = 220; |
- | int dif = 110; | + | int dif = 220; |
- | uint8_t lSState=0; | + | |
- | uint8_t rSState=0; | + | uint8_t lSState; |
- | uint32_t previousMillis = 0; | + | uint8_t rSState; |
- | uint8_t timePeriod = 100; | + | |
+ | int state; | ||
+ | int prevState; | ||
+ | int readyState = 0; | ||
+ | |||
+ | void resetState(int st){ | ||
+ | prevState = state; | ||
+ | state = st; | ||
+ | } | ||
- | int dist = 500; | ||
//int state; | //int state; | ||
- | + | void setup() { | |
- | Ping ping = Ping(2); | + | |
- | + | ||
- | void setup() { | + | |
/* Настроить все 7 выводов на выходы, идущие к драйверу TB6612FNG */ | /* Настроить все 7 выводов на выходы, идущие к драйверу TB6612FNG */ | ||
Строка 1237: | Строка 1345: | ||
pinMode(BIN1,OUTPUT); | pinMode(BIN1,OUTPUT); | ||
pinMode(BIN2,OUTPUT); | pinMode(BIN2,OUTPUT); | ||
- | pinMode(STBY,OUTPUT); | ||
pinMode(lS,INPUT); | pinMode(lS,INPUT); | ||
pinMode(rS,INPUT); | pinMode(rS,INPUT); | ||
Serial.begin(9600); | Serial.begin(9600); | ||
- | startUp(); | + | while (readyState == 0) { |
+ | testSensors(); | ||
+ | if (prevState != 11) | ||
+ | readyState = 1; | ||
+ | delay(1000); | ||
+ | } | ||
+ | delay(2000); | ||
+ | startUp(); | ||
} | } | ||
+ | /* | ||
+ | void checkTimer(){ | ||
+ | uint32_t currentMillis = millis(); | ||
+ | if (currentMillis - previousMillis >= timePeriod){ | ||
+ | Serial.println(millis()); | ||
+ | previousMillis = currentMillis; | ||
+ | } | ||
+ | } | ||
+ | */ | ||
+ | void testSensors(){ | ||
+ | lSState = digitalRead(lS); | ||
+ | rSState = digitalRead(rS); | ||
+ | //Serial.println(lSState); | ||
+ | //Serial.println(rSState); | ||
+ | //Serial.println(""); | ||
+ | |||
+ | if (lSState == 0 && rSState == 0 ){ | ||
+ | resetState(0); | ||
+ | //goForward(n_speed); | ||
+ | } | ||
+ | if (lSState == 1 && rSState == 0 ){ | ||
+ | resetState(10); | ||
+ | //goForward(n_speed); | ||
+ | } | ||
+ | // if (current_dist <= dangerous_dist ){ | ||
+ | // resetState(1); | ||
+ | //applyBrakes (); | ||
+ | // } | ||
+ | if (lSState == 1 && rSState == 1 ){ | ||
+ | //if (readyState == 0) | ||
+ | resetState(11); | ||
+ | //veerRight(n_speed, dif); | ||
+ | } | ||
+ | if (lSState == 0 && rSState == 1 ){ | ||
+ | resetState(1); | ||
+ | //veerLeft(n_speed, dif); | ||
+ | } | ||
+ | |||
+ | } | ||
+ | |||
void ping_fire(){ | void ping_fire(){ | ||
ping.fire(); | ping.fire(); | ||
//Serial.println("***"); | //Serial.println("***"); | ||
} | } | ||
+ | |||
void loop() { | void loop() { | ||
- | uint32_t currentMillis = millis(); | + | // time ===================== |
- | if (currentMillis - previousMillis >= timePeriod){ | + | uint32_t currentMillis = millis(); |
+ | if (currentMillis - previousMillis >= timePeriod){ | ||
+ | //Serial.println(millis()); | ||
+ | //Serial.println(ping.centimeters()); | ||
+ | ping_distance = ping.centimeters(); | ||
ping_fire(); | ping_fire(); | ||
previousMillis = currentMillis; | previousMillis = currentMillis; | ||
- | } | + | } |
- | + | //======================= | |
- | dist = ping.centimeters(); | + | testSensors(); |
- | lSState = digitalRead(lS); | + | if (ping_distance > distance){ |
- | rSState = digitalRead(rS); | + | updateMotion(n_speed, dif); |
- | Serial.println(dist); | + | } else { |
- | /* | + | applyBrakes (); |
- | Serial.println(lSState); | + | } |
- | Serial.println(rSState); | + | |
- | Serial.println(""); | + | |
- | */ | + | |
- | if (lSState == 0 && rSState == 0 && dist > 20 ){ | + | // centralLineFollower(); |
- | goForward(n_speed); | + | |
- | } | + | //delay(1); |
- | if (lSState == 1 && rSState == 1 || dist <= 20 ){ | ||
- | applyBrakes (); | ||
- | } | ||
- | if (lSState == 1 && rSState == 0 && dist > 20 ){ | ||
- | veerRight(n_speed, dif); | ||
- | } | ||
- | if (lSState == 0 && rSState == 1 && dist > 20 ){ | ||
- | veerLeft(n_speed, dif); | ||
- | } | ||
- | |||
- | delay(10); | ||
} | } | ||
- | void testmove(){ | + | |
- | //startUp(); | + | void updateMotion(int sp, int d){ |
- | //goForward(); | + | switch ( state ) { |
- | //delay(1500); | + | case 0: |
- | //turnAround(); | + | if (prevState == 1) |
- | //goForward(); | + | //veerLeft(sp, d); |
- | //delay(1500); | + | veerRight(sp, d); |
- | //turnAround(); | + | else if (prevState == 10) |
- | //goBackward(); | + | //veerRight(sp, d); |
- | //delay(1500); | + | veerLeft(sp, d); |
- | //rotateLeft(); | + | break; |
- | //delay(560); | + | case 1: |
- | //rotateRight(); | + | // Code |
- | //delay(2240); | + | goForward(sp); |
- | // goForward(); | + | break; |
- | // delay(1000); | + | case 10: |
- | //applyBrakes(); | + | // Code |
- | // delay(2000); | + | goForward(sp); |
+ | break; | ||
+ | case 11: | ||
+ | // Code | ||
+ | if (prevState == 10) | ||
+ | veerRight(sp, d); | ||
+ | else if (prevState == 1) | ||
+ | veerLeft(sp, d); | ||
+ | break; | ||
+ | } | ||
+ | |||
+ | } | ||
+ | |||
+ | void leftLineFollower(){ | ||
+ | //goForward(n_speed); | ||
+ | //applyBrakes (); | ||
+ | //veerRight(n_speed, dif); | ||
+ | //veerLeft(n_speed, dif); | ||
+ | |||
+ | } | ||
+ | void centralLineFollower(){ | ||
} | } | ||
Строка 1380: | Строка 1541: | ||
} | } | ||
- | //void turnAround() | + | |
- | //{ | + | |
- | // rotateLeft(); | + | |
- | // delay(1370); | + | |
- | //} | + | |
void shutDown () | void shutDown () | ||
Строка 1390: | Строка 1547: | ||
digitalWrite(STBY,LOW); | digitalWrite(STBY,LOW); | ||
} | } | ||
+ | |||
+ | |||
</code> | </code> | ||
+ | |||
+ | |||
+ | ==== Простой таймер (прерывание по таймеру) ==== | ||
+ | |||
+ | <code C++> | ||
+ | uint32_t previousMillis = 0; | ||
+ | uint16_t timePeriod = 1500; | ||
+ | |||
+ | void setup() { | ||
+ | // put your setup code here, to run once: | ||
+ | Serial.begin(9600); | ||
+ | } | ||
+ | |||
+ | void loop() { | ||
+ | uint32_t currentMillis = millis(); | ||
+ | if (currentMillis - previousMillis >= timePeriod){ | ||
+ | Serial.println(millis()); | ||
+ | previousMillis = currentMillis; | ||
+ | } | ||
+ | } | ||
+ | </code> | ||
+ | |||
==== Ультразвуковой датчик ==== | ==== Ультразвуковой датчик ==== | ||
* [[http://playground.arduino.cc/Code/Ping]] | * [[http://playground.arduino.cc/Code/Ping]] | ||
* [[http://embeddedlab.csuohio.edu/RoboticSwarms/ultrasonic_sensors.html]] | * [[http://embeddedlab.csuohio.edu/RoboticSwarms/ultrasonic_sensors.html]] | ||
+ | * [[http://arduino.ru/forum/programmirovanie/nestabilnaya-rabota-uz-datchika]] - Форум: "Нестабильная работа УЗ датчика" | ||
+ | ==== Указатели в C для Ардуино ==== | ||
+ | |||
+ | * [[http://mypractic.ru/urok-15-ukazateli-v-c-dlya-arduino-preobrazovanie-raznyx-tipov-dannyx-v-bajty.html]] | ||