Hubert Mathéo le 26 avril 2024 à 15:29

2024-04-26T15:29:31Z

Hubert Mathéo le 26 avril 2024 à 15:13

2024-04-26T15:13:48Z

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	thereis=0;		thereis=0;
	}		}
	}		} <br>
			<br>
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Hubert Mathéo le 26 avril 2024 à 15:13

2024-04-26T15:13:12Z

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Hubert Mathéo le 26 avril 2024 à 15:12

2024-04-26T15:12:39Z

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Hubert Mathéo : Page créée avec « #include #define IN1 7 #define IN2 8 #define ENA 5 // ENA pin #define FRONT 90 //degree when steering facing straight forward int SHARP_RIGHT=FRONT+33; int SHARP_LEFT=FRONT-40; int RIGHT=FRONT+17; int LEFT=FRONT-20; #define SENSOR_FRONT 90 int SENSOR_LEFT=SENSOR_FRONT+25; int SENSOR_RIGHT=SENSOR_FRONT-25; int SENSOR_FAR_LEFT=SENSOR_FRONT+60; int SENSOR_FAR_RIGHT=SENSOR_FRONT-60; #define DELAY_TIME 1000 #define SPEED... »

2024-04-26T15:11:10Z

Page créée avec « #include <PWMServo.h> #define IN1 7 #define IN2 8 #define ENA 5 // ENA pin #define FRONT 90 //degree when steering facing straight forward int SHARP_RIGHT=FRONT+33; int SHARP_LEFT=FRONT-40; int RIGHT=FRONT+17; int LEFT=FRONT-20; #define SENSOR_FRONT 90 int SENSOR_LEFT=SENSOR_FRONT+25; int SENSOR_RIGHT=SENSOR_FRONT-25; int SENSOR_FAR_LEFT=SENSOR_FRONT+60; int SENSOR_FAR_RIGHT=SENSOR_FRONT-60; #define DELAY_TIME 1000 #define SPEED... »

Nouvelle page

#include <PWMServo.h>
#define IN1 7
#define IN2 8
#define ENA 5 // ENA pin

#define FRONT 90 //degree when steering facing straight forward
int SHARP_RIGHT=FRONT+33;
int SHARP_LEFT=FRONT-40;
int RIGHT=FRONT+17;
int LEFT=FRONT-20;

#define SENSOR_FRONT 90
int SENSOR_LEFT=SENSOR_FRONT+25;
int SENSOR_RIGHT=SENSOR_FRONT-25;
int SENSOR_FAR_LEFT=SENSOR_FRONT+60;
int SENSOR_FAR_RIGHT=SENSOR_FRONT-60;

#define DELAY_TIME 1000

#define SPEED 170
#define FAST_SPEED 200
#define MID_SPEED 170
#define SERVO_STEER 9 //steer servo connect to D9
#define SERVO_SENSOR 10 //Ultrasonic sensor servo connect to D10

#define Echo_PIN 2 // Ultrasonic Echo pin connect to D11
#define Trig_PIN 3 // Ultrasonic Trig pin connect to D12

PWMServo head;
PWMServo head_steer;
int leftscanval, centerscanval, rightscanval, ldiagonalscanval, rdiagonalscanval;
const int distancelimit = 30; //distance limit for obstacles in front
const int sidedistancelimit = 30; //minimum distance in cm to obstacles at both sides (the car will allow a shorter distance sideways)
int distance;
int numcycles = 0;
const int forwardtime = 600; //Time the robot spends turning (miliseconds)
const int turntime = 900; //Time the robot spends turning (miliseconds)
const int backtime = 900; //Time the robot spends turning (miliseconds)
#define LPT 2 // scan loop coumter
int thereis;
/*motor control*/
void go_Back(int speed) //Forward
{

digitalWrite(IN1, HIGH);
digitalWrite(IN2,LOW);
analogWrite(ENA,speed);
}

void go_Advance(int speed) //Forward
{

digitalWrite(IN1, LOW);
digitalWrite(IN2,HIGH);
analogWrite(ENA,speed);
}

void turn(int angle)
{

head_steer.write(angle);

}

void stop_Stop() //Stop
{

digitalWrite(IN1, LOW);
digitalWrite(IN2,LOW);
analogWrite(ENA,0);
}

void setup() {

pinMode(ENA, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(Trig_PIN, OUTPUT);
pinMode(Echo_PIN,INPUT);

head_steer.attach(SERVO_STEER);
head.attach(SERVO_SENSOR);
head.write(90);
turn(FRONT);
stop_Stop();
delay(2000);

Serial.begin(9600);

}

void loop() {
auto_avoidance();

}
/*detection of ultrasonic distance*/
int watch(){
long echo_distance;
digitalWrite(Trig_PIN,LOW);
delayMicroseconds(5);
digitalWrite(Trig_PIN,HIGH);
delayMicroseconds(15);
digitalWrite(Trig_PIN,LOW);
echo_distance=pulseIn(Echo_PIN,HIGH);
echo_distance=echo_distance*0.01657; //how far away is the object in cm
//Serial.println((int)echo_distance);
return round(echo_distance);
}
//Meassures distances to the right, left, front, left diagonal, right diagonal and asign them in cm to the variables rightscanval,
//leftscanval, centerscanval, ldiagonalscanval and rdiagonalscanval (there are 5 points for distance testing)
String watchsurrounding(){
/* obstacle_status is a binary integer, its last 5 digits stands for if there is any obstacles in 5 directions,
* for example B101000 last 5 digits is 01000, which stands for Left front has obstacle, B100111 means front, right front and right ha
*/

int obstacle_status =B100000;
centerscanval = watch();
if(centerscanval<distancelimit){
stop_Stop();

obstacle_status =obstacle_status | B100;
}
head.write(SENSOR_LEFT);
delay(100);
ldiagonalscanval = watch();
if(ldiagonalscanval<distancelimit){
stop_Stop();

obstacle_status =obstacle_status | B1000;
}
head.write(SENSOR_FAR_LEFT); //Didn't use 180 degrees because my servo is not able to take this angle
delay(300);
leftscanval = watch();
if(leftscanval<sidedistancelimit){
stop_Stop();

obstacle_status =obstacle_status | B10000;
}

head.write(SENSOR_FRONT); //use 90 degrees if you are moving your servo through the whole 180 degrees
delay(100);
centerscanval = watch();
if(centerscanval<distancelimit){
stop_Stop();

obstacle_status =obstacle_status | B100;
}
head.write(SENSOR_RIGHT);
delay(100);
rdiagonalscanval = watch();
if(rdiagonalscanval<distancelimit){
stop_Stop();

obstacle_status =obstacle_status | B10;
}
head.write(SENSOR_FAR_RIGHT);
delay(100);
rightscanval = watch();
if(rightscanval<sidedistancelimit){
stop_Stop();

obstacle_status =obstacle_status | 1;
}
head.write(SENSOR_FRONT); //Finish looking around (look forward again)
delay(300);
String obstacle_str= String(obstacle_status,BIN);
obstacle_str= obstacle_str.substring(1,6);

return obstacle_str; //return 5-character string standing for 5 direction obstacle status
}

void auto_avoidance(){

++numcycles;
if(numcycles>=LPT){ //Watch if something is around every LPT loops while moving forward
stop_Stop();
String obstacle_sign=watchsurrounding(); // 5 digits of obstacle_sign binary value means the 5 direction obstacle status
Serial.print("begin str=");
Serial.println(obstacle_sign);
if( obstacle_sign=="00000"){
Serial.println("FORWARD");
turn(FRONT);
go_Advance(SPEED);

delay(forwardtime);
stop_Stop();
}

else if( obstacle_sign=="01000" || obstacle_sign=="11000" || obstacle_sign=="10000" ){
Serial.println("hand right");
turn(SHARP_RIGHT);
go_Advance(FAST_SPEED);
delay(turntime);
stop_Stop();
turn(FRONT);
}

else if( obstacle_sign=="00010" ||obstacle_sign=="00011" ||obstacle_sign=="00001" ){
Serial.println("hand left");
turn(SHARP_LEFT);
go_Advance(FAST_SPEED);
delay(turntime);
stop_Stop();
turn(FRONT);
}

else if( obstacle_sign=="00111" || obstacle_sign=="01111" || obstacle_sign=="10111" || obstacle_sign=="11111" || obstacle_sign=="00110" || obstacle_sign=="01010" || obstacle_sign=="00101" ){
Serial.println("hand back right");
turn(RIGHT);
go_Back(FAST_SPEED);
delay(backtime);
stop_Stop();
turn(FRONT);
}
else if(obstacle_sign=="00100" || obstacle_sign=="10100" || obstacle_sign=="01100" || obstacle_sign=="11100" || obstacle_sign=="11011" || obstacle_sign=="11101" || obstacle_sign=="11110" || obstacle_sign=="01110" ){
Serial.println("hand back left");
turn(LEFT);
go_Back(FAST_SPEED);
delay(backtime);
stop_Stop();
turn(FRONT);
}

else Serial.println("no handle");
numcycles=0; //Restart count of cycles
} else {
turn(FRONT);
go_Advance(SPEED);
delay(backtime);
stop_Stop();

}

//else Serial.println(numcycles);

distance = watch(); // use the watch() function to see if anything is ahead (when the robot is just moving forward and not looking around it will test the distance in front)
if (distance<distancelimit){ // The robot will just stop if it is completely sure there's an obstacle ahead (must test 25 times) (needed to ignore ultrasonic sensor's false signals)
Serial.println("final go back");
turn(SHARP_RIGHT);
go_Back(FAST_SPEED);
delay(backtime*3/2);
turn(FRONT);
++thereis;}
if (distance>distancelimit){
thereis=0;} //Count is restarted
if (thereis > 25){
Serial.println("final stop");
stop_Stop(); // Since something is ahead, stop moving.
thereis=0;
}
}

Codage - Historique des versions

Hubert Mathéo le 26 avril 2024 à 15:29

Hubert Mathéo le 26 avril 2024 à 15:13

Hubert Mathéo le 26 avril 2024 à 15:13

Hubert Mathéo le 26 avril 2024 à 15:12