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 } 

  

 

void SensorSetup(){  

  pinMode(URTRIG,OUTPUT);                     // A low pull on pin COMP/TRIG 

  digitalWrite(URTRIG,HIGH);                  // Set to HIGH  

  pinMode(URPWM, INPUT);                      // Sending Enable PWM mode comm
and 

  for(int i=0;i<4;i++){ 

      Serial.write(EnPwmCmd[i]); 

   }  

 

int MeasureDistance(){        // a low pull on pin COMP/TRIG  triggering a se
nsor reading 

    digitalWrite(URTRIG, LOW); 

    digitalWrite(URTRIG, HIGH);               // reading Pin PWM will output 
pulses     

    unsigned long distance=pulseIn(URPWM,LOW);     

    if(distance==50000){              // the reading is invalid. 

      Serial.print("Invalid");     

    }else{ 

      distance=distance/50;           // every 50us low level stands for 1cm 

    } 

    return distance; 

 

void servoSweep(){ 

  if(sweepFlag ){   

     if(pos>=60 && pos<=120){                    

        pos=pos+1;                                  // in steps of 1 degree  

        myservo.write(pos);                         // tell servo to go to po
sition in variable 'pos'  

    } 

Summary of Contents for ROB0118

Page 1: ...the platform of the Turtle Robot based on ultrasonic sensor as distance measuring device and combined with servo STEP 1 Assemble Robot Refer to Instruction Manual http www dfrobot com cn image data RO...

Page 2: ...2 Finished the robot chassis Then following the connection diagram to wire the hardware Motor Connection Physical map...

Page 3: ...oid setup void loop carAdvance 100 100 delay 1000 carBack 100 100 delay 1000 carTurnLeft 250 250 delay 1000 carTurnRight 250 250 delay 1000 void carStop Motor Stop digitalWrite speedPin_M2 0 digitalWr...

Page 4: ...talWrite directionPin_M2 LOW void carTurnRight int leftSpeed int rightSpeed Turn Right analogWrite speedPin_M2 leftSpeed digitalWrite directionPin_M1 LOW analogWrite speedPin_M1 rightSpeed digitalWrit...

Page 5: ...rasonic Sensor Position Please see the Installation Manual http www dfrobot com cn images upload File 20141030183325g7lofm pdf 3 Fixed Servo Position STEP4 Debug Ultrasonic Sensor and Servo 1 Hardware...

Page 6: ...Ultrasonic Sensor and Servo Controll...

Page 7: ...ate servo object to control a servo int pos 60 int sweepFlag 1 int URPWM 3 PWM Output 0 25000US Every 50US represent 1cm int URTRIG 10 PWM trigger pin uint8_t EnPwmCmd 4 0x44 0x02 0xbb 0x01 distance m...

Page 8: ...TRIG triggering a se nsor reading digitalWrite URTRIG LOW digitalWrite URTRIG HIGH reading Pin PWM will output pulses unsigned long distance pulseIn URPWM LOW if distance 50000 the reading is invalid...

Page 9: ...M1 5 M1 Speed Control int speedPin_M2 6 M2 Speed Control int directionPin_M1 4 M1 Direction Control int directionPin_M2 7 M1 Direction Control unsigned long actualDistance 0 Servo myservo create servo...

Page 10: ...ntln actualDistance delay 100 if sweepServo check 1 servoSweep if actualDistance 30 myservo write 90 if pos 90 carBack 100 100 Serial println carBack delay 100 carTurnRight 150 150 Serial println carT...

Page 11: ...ial write EnPwmCmd i int MeasureDistance a low pull on pin COMP TRIG triggering a sensor r eading digitalWrite URTRIG LOW digitalWrite URTRIG HIGH reading Pin PWM will output pulses unsigned long dist...

Page 12: ...n_M2 leftSpeed digitalWrite directionPin_M1 LOW analogWrite speedPin_M1 rightSpeed digitalWrite directionPin_M2 LOW void carTurnRight int leftSpeed int rightSpeed Turn Right analogWrite speedPin_M2 le...

Page 13: ...o to po sition in variable pos if pos 119 sweepFlag false assign the var iable again else if pos 60 pos 120 pos pos 1 myservo write pos if pos 61 sweepFlag true Your own car was born https www dfrobot...

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