IFD:GrundlagenElektronik2011/Project/Martin/Dokumentation: Difference between revisions

IFD:GrundlagenElektronik2011/Project/Martin/Dokumentation (view source)

Revision as of 00:15, 3 April 2012

2,970 bytes added , 3 April 2012

→‎Dokumentation | Martin | aRobot

Martin T

21

edits

@@ Line 5: / Line 5: @@
 Grundlage des Projekts war die Erstellung einer Roboterbasis, die es mir ermöglicht, verschiedene Sensoren für die Umfeldwahrnehmung und autonome Fortbewegung eines Rotobers zu testen. Im Rahmen der Veranstaltung wollte ich daher eine erste Variante implementieren. Um erste Erfahrungen zu sammeln, sollte ein Sensor eingesetzt werden, der mit einfachen Mitteln zu bauen ist und über die Programmierung gut gesteuert werden kann. Daher entschied ich mich für einen Linefollowing-Sensor basierend auf IR-LEDs und Phototransistoren.
+(Bilder folgen)
@@ Line 21: / Line 23: @@
 <br>
 Die Ansteuerung des Motors erfolgt über einen Motortreiber. Dieser ermöglicht die Steuerung der Richtung, sowie der Geschwindigkeit von zwei DC-Motoren.
+[[Image:ARobot_Schaltplan.png|800px|aRobot Schaltplan]]
+== Code ==
+<br>
+<source lang="cpp">
+// init Motor Pins
+int MOT_LEFT_SPEED_PIN = 5;
+int MOT_RIGHT_SPEED_PIN = 6;
+int MOT_LEFT_FW_PIN = 7;
+int MOT_LEFT_RW_PIN = 8;
+int MOT_RIGHT_FW_PIN = 9;
+int MOT_RIGHT_RW_PIN = 10;
+// init Line Sensor Pins
+int LINE_FOLLOW_LEFT = A0;
+int LINE_FOLLOW_MIDDLE = A1;
+int LINE_FOLLOW_RIGHT = A2;
+// init Poti Pin
+int THRESHOLD_PIN = A5;
+// init global variables
+int global_engine_speed = 160;
+int line_threshold_low = 120;
+int line_threshold_high = 200;
+int left = 1024;
+int right = 1024;
+int middle = 1024;
+boolean go_left = false;
+boolean go_straight = true;
+boolean go_right = false;
+boolean start = false;
+int piezo = 0;
+int last_piezo = 0;
+//check all 3 Sensors, if Line is underneath them
+void checkLine()
+{
+  while(go_straight)
+  {
+    analogWrite(MOT_LEFT_SPEED_PIN, global_engine_speed);
+    analogWrite(MOT_RIGHT_SPEED_PIN, global_engine_speed);
+    left = analogRead(LINE_FOLLOW_LEFT);
+    middle = analogRead(LINE_FOLLOW_MIDDLE);
+    right = analogRead(LINE_FOLLOW_RIGHT);
+    if(left < line_threshold_low && middle > line_threshold_high)
+    {
+      go_left = true;
+      go_straight = false;
+    }
+    else if(right < line_threshold_low && middle > line_threshold_high)
+    {
+      go_right = true;
+      go_straight = false;
+    }
+  }
+  while(go_left)
+  {
+    analogWrite(MOT_LEFT_SPEED_PIN, 0);
+    analogWrite(MOT_RIGHT_SPEED_PIN, global_engine_speed);
+    left = analogRead(LINE_FOLLOW_LEFT);
+    middle = analogRead(LINE_FOLLOW_MIDDLE);
+    right = analogRead(LINE_FOLLOW_RIGHT);
+    if(middle < line_threshold_low && left > line_threshold_high)
+    {
+      go_straight = true;
+      go_left = false;
+    }
+  }
+  while(go_right)
+  {
+    analogWrite(MOT_LEFT_SPEED_PIN, global_engine_speed);
+    analogWrite(MOT_RIGHT_SPEED_PIN, 0);
+    left = analogRead(LINE_FOLLOW_LEFT);
+    middle = analogRead(LINE_FOLLOW_MIDDLE);
+    right = analogRead(LINE_FOLLOW_RIGHT);
+    if(middle < line_threshold_low && right > line_threshold_high)
+    {
+      go_straight = true;
+      go_right = false;
+    }
+  }
+}
+void setup()
+{
+  pinMode(MOT_LEFT_SPEED_PIN, OUTPUT);
+  pinMode(MOT_RIGHT_SPEED_PIN, OUTPUT);
+  pinMode(MOT_LEFT_FW_PIN, OUTPUT);
+  pinMode(MOT_LEFT_RW_PIN, OUTPUT);
+  pinMode(MOT_RIGHT_FW_PIN, OUTPUT);
+  pinMode(MOT_RIGHT_RW_PIN, OUTPUT);
+  // initial forward
+  digitalWrite(MOT_LEFT_RW_PIN, LOW);
+  digitalWrite(MOT_RIGHT_RW_PIN, LOW);
+  digitalWrite(MOT_LEFT_FW_PIN, HIGH);
+  digitalWrite(MOT_RIGHT_FW_PIN, HIGH);
+}
+void loop()
+{
+  line_threshold_high = analogRead(THRESHOLD_PIN);
+  line_threshold_low = line_threshold_high - 80;
+  piezo = analogRead(A4);
+  last_piezo = piezo;
+  // wait until piezo senses some force
+  while(!start)
+  {
+    piezo = analogRead(A4);
+    if(abs(last_piezo - piezo) > 20)
+    {
+      start = true;
+    }
+    last_piezo = piezo;
+  }
-== Code ==
+  checkLine();
+}
+</source>