งานที่ 18 หุ่นยนต์หลบสิ่งกีดขวาง Arduino 2WD

HARDWARE

SOFTWARE

#include <NewPing.h>

//Tell the Arduino where the sensor is hooked up
NewPing sonar(10, 11);

int enableA = 3;
int pinA1 = 6;
int pinA2 = 7;

int enableB = 5;
int pinB1 = 8;
int pinB2 = 9;

long inches;

void setup() {
  pinMode(enableA, OUTPUT);
  pinMode(pinA1, OUTPUT);
  pinMode(pinA2, OUTPUT);

  pinMode(enableB, OUTPUT);
  pinMode(pinB1, OUTPUT);
  pinMode(pinB2, OUTPUT);

  pinMode(2, OUTPUT);
  pinMode(12, OUTPUT);
  pinMode(13, OUTPUT);

}

void loop() {

  //Run the motors at slightly less than full power
  analogWrite(enableA, 200);
  analogWrite(enableB, 200);

  //Ping the sensor and determine the distance in inches
  inches = sonar.ping_in();

  //If the robot detects an obstacle less than four inches away, it will back up, then turn left; if no obstacle is detected, it will go forward
  if (inches < 5) {
    analogWrite(enableA, 255);
    analogWrite(enableB, 255);
    digitalWrite(2, LOW);
    digitalWrite(12, LOW);
    digitalWrite(13, HIGH);
    backward(400);
    coast(200);
    turnLeft(400);
    coast(200);

  }
  else if (inches >= 5  and inches < 30 ) {
    forward(1);
    digitalWrite(2, LOW);
    digitalWrite(12, HIGH);
    digitalWrite(13, LOW);

  }
  else {
    forward(1);
    digitalWrite(2, HIGH);
    digitalWrite(12, LOW);
    digitalWrite(13, LOW);
  }
}

//Define high-level H-bridge commands

void enableMotors()
{
  motorAOn();
  motorBOn();
}

void disableMotors()
{
  motorAOff();
  motorBOff();
}

void forward(int time)
{
  motorAForward();
  motorBForward();
  delay(time);
}

void backward(int time)
{
  motorABackward();
  motorBBackward();
  delay(time);
}

void turnLeft(int time)
{
  motorABackward();
  motorBForward();
  delay(time);
}

void turnRight(int time)
{
  motorAForward();
  motorBBackward();
  delay(time);
}

void coast(int time)
{
  motorACoast();
  motorBCoast();
  delay(time);
}

void brake(int time)
{
  motorABrake();
  motorBBrake();
  delay(time);
}
//Define low-level H-bridge commands

//enable motors
void motorAOn()
{
  digitalWrite(enableA, HIGH);
}

void motorBOn()
{
  digitalWrite(enableB, HIGH);
}

//disable motors
void motorAOff()
{
  digitalWrite(enableB, LOW);
}

void motorBOff()
{
  digitalWrite(enableA, LOW);
}

//motor A controls
void motorAForward()
{
  digitalWrite(pinA1, HIGH);
  digitalWrite(pinA2, LOW);
}

void motorABackward()
{
  digitalWrite(pinA1, LOW);
  digitalWrite(pinA2, HIGH);
}

//motor B controls
void motorBForward()
{
  digitalWrite(pinB1, HIGH);
  digitalWrite(pinB2, LOW);
}

void motorBBackward()
{
  digitalWrite(pinB1, LOW);
  digitalWrite(pinB2, HIGH);
}

//coasting and braking
void motorACoast()
{
  digitalWrite(pinA1, LOW);
  digitalWrite(pinA2, LOW);
}

void motorABrake()
{
  digitalWrite(pinA1, HIGH);
  digitalWrite(pinA2, HIGH);
}

void motorBCoast()
{
  digitalWrite(pinB1, LOW);
  digitalWrite(pinB2, LOW);
}

void motorBBrake()
{
  digitalWrite(pinB1, HIGH);
  digitalWrite(pinB2, HIGH);

}